Design for Collaborative Robot with 6 Degree of Freedom(DOF)

The design and control technology of the collaborative robot is studied systematically, and the body structure is lightweight design, and the high-strength thin shell is designed in this paper. According to the maximum load and speed requirements of the robot, the torque check of the two kinds of modular joint motor and harmonic reducer of the robot is carried out. The new driving principle is studied. The frameless direct drive motor and the harmonic reducer with certain flexibility are high-density integrated, and the electromechanical joint with high power density ratio is developed, and the series and modularization are carried out. A new flexible braking mechanism is designed to simplify the joint structure and facilitate heat dissipation, which provides a new idea for joint structure design of collaborative robots. From the basic theory and key technology, it provides innovative ideas and solutions for the realization of “man-machine integration”, and lays the foundation for the realization of highly adaptive cooperation between robots and people.