Design considerations of assist manipulator

Power manipulator is a kind of multi-functional machine which can automatically control and change new programming. It has multiple degrees of freedom and can carry objects to complete work in different environments. Especially in high temperature, high pressure, dust, noise and belt radioactivity and pollution, more widely used. What should be paid attention to in the design and mechanical structure at that time?

1. The problem of free structure must be considered first, which is also the problem of workspace range. More freedom and more complex structure and control system. Currently, the 2-6-dof manipulator on the market now needs three MDOF, which can be called assist manipulator. The lower part of 3 or 3 is generally called coordinate robot. In addition to the fact that the degree of freedom is the most important precision and stiffness (the latter is very important in a multi DOF Manipulator), the former is related to the machining accuracy, and the latter is related to the size and speed of the workload.

2. If the driving system is of medium and small working load and high speed, it is recommended to choose all electric drive or electric drive, and the electro-hydraulic mixed gas can be considered as the recommended design method.

3. The development trend of high-end industrial robots in the world has the trend of high-precision, high-speed, multi axis and lightweight. The positioning accuracy can meet the requirements of micron and submicron level, and the running speed can reach 3m / s. The product system with six axis and 2kg load now weighs 100kg