1. Standard scheme optimization criteria When the scheme requirements meet the certain working space requirements, a small boom size is selected through standard optimization, which will be beneficial to the rigidity of the welding manipulator and further reduce the motion inertia.
2. Selection criteria for high-strength materials Because the manipulator acts as a load in sequence from the wrist, forearm, arm to the base, the selection of high-strength materials should be based on reducing the quality of parts.
3. Smaller motion inertia criterion Because there are many moving parts of the welding manipulator, and the motion conditions are often changed, shock and vibration must occur. The selection of the smaller motion inertia criterion can increase the motion stability of the welding manipulator and the dynamic characteristics of the traveling welding manipulator. For this reason, attention should be paid to reducing the mass of the moving parts as much as possible on the premise of satisfactory strength and stiffness, and paying attention to the center of mass of the moving parts to the rotating shaft.
4. Criteria of stiffness scheme In the scheme of welding manipulator, stiffness is a more important question than strength. To make the stiffness larger, it is necessary to properly select the section shape and specification of the rod, travel support stiffness and contact stiffness, and reasonably arrange the functions The force and moment on the arm rod minimize the bending deformation of the rod.
5. Technical criteria Robot welding manipulator is a high-precision, high-integration automatic mechanical system. Excellent processing and equipment technology are one of the important criteria to be expressed in the program. There is only a reasonable structural solution without excellent technicality, which will inevitably lead to the decrease of the performance of the operating machine and the increase of the cost.
6. Reliability criteria The robot manipulator is particularly important due to its complicated arrangement and many links. Generally speaking, the reliability of components should be higher than that of components, and the reliability of components should be higher than that of the whole machine. The parts or structures whose reliability meets the requirements can be determined by the probabilistic solution method, and the reliability of the operating machine system can also be determined by the system reliability summary method.