The transmission and layout design of the robot should theoretically be a relatively mature field. If there is a prototype, you can know most of the structure by taking a look. However, domestic manufacturers still need a long time to accumulate in structural optimization design experience, standardization of assembly specifications, on-demand customization of spare parts, and supply chain optimization.
This article takes KUKA as an example, and divides the two series of collaborative robot iiwa and traditional robot KR.
Collaborative robot iiwa
The current mainstream collaborative robots use the "modular" idea of ​​joint design, using direct drive motor + harmonic reducer , the internal structure of each joint is basically the same, but the size is not the same, for example, each axis of iiwa is basically It’s all like this:
Each joint contains a motor, servo drive, harmonic reducer, motor end encoder, joint end position sensor and torque sensor. The motor and reducer are directly connected.
The layout of the entire joint inside the robot is as follows:
Traditional robot KR
For the traditional robots such as the KR series, the layout of the end is generally done in accordance with the basic principle of "three axes are at one point". The main difference lies in the arrangement and transmission of the three motors.
Many robots before KUKA are equipped with 4, 5, and 6 three-axis motors behind the arm, which are transmitted to the wrist through the concentric shaft + bevel gear/synchronous belt. Take KR5 as an example:
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