Principle 1. Optimizing the criteria in the standard scheme. When the scheme is required to satisfy the certain working space requirements, the specification of the forearm is selected after the specification optimization, which is conducive to improving the rigidity of the welding manipulator and further reducing the motion inertia.
Principle 2. There must be a specification for the selection of high-strength data for the welding manipulator, because the welding manipulator acts as the load from the wrist, arm, arm to the structure, so the selection criterion for the high-strength data should be to reduce the quality of the parts.
Principle 3. Smaller motion inertia criterion. Since there are many moving parts in the welding manipulator, the motion state often changes, and shock and vibration will inevitably occur. Choosing a smaller motion inertia criterion can improve the motion stability of the welding manipulator and improve the dynamic characteristics of the welding manipulator. Therefore, under the premise of satisfactory strength and rigidity, attention should be paid to reducing the mass of the moving parts as much as possible, and attention should be paid to the equipment of the center of mass of the moving parts to the shaft.
Principle 4. In the scheme of welding manipulators, the rigidity is more important than the strength. In order to increase the rigidity, it is necessary to select the cross-sectional shape and standard of the rods reasonably, the stroke support rigidity and the contact rigidity, and the rational organization function The force and moment on the arm, minimize the bending deformation of the rod.
Principle 5. The welding technical specification of the welding manipulator is an active mechanical system with high precision and high integration. Excellent processing and equipment technology is one of the important specifications to be expressed in this program.