(1) Transmission Structure Design: Yɛ nhyehyɛe a ɛfa ne nyinaa ho, kyerɛ sɛnea robɔt no te, na yɛ transmission structure design, component structure design, ne 3D modeling a edi kan. Ɛsɛ sɛ wɔn a wɔyɛ nneɛma no nim robɔt nhyehyɛe ahorow a wɔtaa yɛ, nnyinasosɛm ne nhyehyɛe ahorow a wɔtaa de fa nkrasɛm, ne nneɛma ahorow ne ne su ahorow a ɛtew so no yiye. Ɛsɛ sɛ wonya adansi ho nhyehyɛe ho tumi ne osuahu a emu yɛ den.
(2) Reducer Selection: Ɛsɛ sɛ designers nya nteaseɛ a emu dɔ wɔ reducer structural types ne nteaseɛ a ɛwɔ performance parameters mu, na wɔtumi paw reducers na wɔbu akontaa. Ɛsɛ sɛ wotumi hwehwɛ nneɛma a ɛtew so na wɔsɔ hwɛ, a dede, wosow, output torque, torsional stiffness, backlash, repeatability, ne positioning pɛpɛɛpɛ ka ho. Reducer vibration betumi ama end-effector vibration aba, na ɛtew robɔt no trajectory pɛpɛɛpɛ so. Reducer vibration wɔ nneɛma ahorow a ɛde ba, a nea ɛka ho ne resonance yɛ ɔhaw a ɛtaa ba. Ɛsɛ sɛ nnwumakuw a wɔyɛ robɔt no di akwan horow a wɔfa so siw nnyigyei a ano yɛ den ano anaasɛ wɔbɛkwati no yiye.
(3) Motor Paw: Ɛsɛ sɛ wɔn a wɔyɛ mfiri no nya sɛnea mfiri no yɛ adwuma no ho ntease a edi mũ na wotumi bu akontaa na wɔhwɛ sɛ motor no torque, ahoɔden, ne inertia yɛ nokware.
(4) Simulation Analysis: Wɔyɛ static ne dynamic simulation analysis de hwɛ sɛ wɔapaw motors ne reducers, na wɔde hwɛ sɛnea nipadua no mu nneɛma atitiriw no ahoɔden ne stiffness te. Eyi ma nipadua titiriw no mu duru so tew, ɛma robɔt no yɛ adwuma yiye, na ɛma ɛka so tew. Wɔyɛ modal analysis wɔ 3D model no so de bu abɔdeɛ mu frequencies, a ɛboa ma wɔsiw resonance ano.
(5) Ahotoso Nsusuwii: Ɔdansi nhyehyɛe no fa nnyinasosɛm a ɛne sɛ wɔbɛma nneɛma ayɛ mmerɛw no tom. Nipadua no fã titiriw a wɔde dade a wɔde gu mu no de dade a ɛyɛ den a ɛyɛ adwuma yiye a ɛkɔ akyiri na edi dwuma, na aluminium afã horow a wɔatow no de nneɛma a wɔde gu mu a ɛyɛ nsu pa di dwuma, na wɔde dade nkuku a wɔde gu mu na edi dwuma. Nhyiamu nhyehyɛeɛ akwankyerɛ a ɛkɔ akyiri ho hia ma nhyiamu, na wɔyɛ component ne single-axis sɔhwɛ wɔ nhyiamu berɛ mu. Bere a wɔaboaboa ano akyi no, wɔyɛ mfiri no adwumayɛ ho sɔhwɛ ne ahoɔden a ɛtra hɔ kyɛ adwennwen sɔhwɛ. Wɔama afiri no ahobanbɔ nyinaa atu mpɔn, na wɔama anyinam ahoɔden kabinet no tumi a ɛko tia-ntwitwagye no ayɛ kɛse ma ayɛ nsakrae wɔ adwumayɛbea ahorow mu.
