The basic structure requirements of the robot body
The robot body consists of five parts: mechanical body, control system, sensor, driver and input/output system interface. Songle Robot here to share the basic structure requirements of the robot body.
1. The mechanical system's weight-to-weight ratio should be as large as possible. The low mass of the boom helps to improve the dynamic performance of the manipulator. A large weight-to-weight ratio means high work efficiency and low cost. The grasping weight of a human arm is about 3-4 times its own weight. According to statistics, the ratio of grasping weight to weight of the operating machine is about 1/20-1/15, which is a far cry from that of a human arm;
2. The static and dynamic rigidity of the structure is as good as possible. The static and dynamic rigidity of the structure is good for improving the positioning accuracy of the arm end point and the tracking accuracy of the programming trajectory, which is very important for offline programming. The manipulator has good rigidity, which can increase the flexibility of design. For example, when selecting the installation position of the sensor, the structure with good rigidity allows the sensor to be placed far away from the actuator;
3. Increase the natural frequency of the system and improve the dynamic performance of the system. When the robot moves at a medium speed, the working frequency range is 1Hz-20Hz, and the low-order natural frequency of the robot is 5Hs-25Hs, which may resonate. Increase the natural frequency of the manipulator structure as much as possible to avoid the working frequency of the robot when it is working.
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