In the manufacturing processing and production, although the industrial manipulator is not as flexible as the human hand, it has the characteristics of being able to repeatedly work and work, not knowing fatigue, not afraid of danger, and more powerful than the human hand in lifting heavy objects. Therefore, the industrial manipulator has been valued by many departments, and has been more and more widely used. The robot system integration tells you that the movement and working requirements of the loading and unloading manipulator are directly related to the arm's structure, working range, carrying capacity, motion accuracy, etc. These factors directly affect the working performance of the manipulator.

1. The arm of an industrial manipulator should have large bearing capacity, good rigidity and light deadweight

2. The motion speed of industrial robot arm should be appropriate and the inertia should be small

The industrial manipulator has light weight, and its starting and stopping stability is good.

3. Industrial robot arm should be flexible

4. High position accuracy: In order to obtain high position accuracy, industrial manipulators should not only adopt advanced control methods, but also

Attention should also be paid to the following issues:

(1) The stiffness, bias torque, inertia force and cushioning effect of industrial manipulator directly affect the position accuracy of the arm.

(2) Positioning device and travel detection mechanism are added.

(3) The coordinate form of industrial manipulator shall be reasonably selected.

5. Strong versatility, good adaptability to multiple operations, and easy maintenance and adjustment

The requirements mentioned above by the manufacturers of automated assembly lines are sometimes contradictory, with good rigidity, heavy load, large structure and many guide rods, which increase the self weight of the arm; If the moment of inertia increases, the impact force will be large and the position accuracy will be low. Therefore, when designing the arm, it is necessary to comprehensively consider various factors such as the grasping weight of the manipulator, the number of degrees of freedom, the working range, the speed of movement, the overall layout and working conditions of the manipulator, so as to achieve accurate, reliable, flexible action, compact structure, large stiffness and small self weight, thus ensuring a certain position accuracy and adapting to rapid action.