End joint layout and motor layout
For traditional robots such as the KR series of KUKA robots, the layout of their ends generally follows the basic principle of "three-axis axes intersecting at one point".
This means that the layout and motor arrangement of the robot's 4, 5, and 6 joints (also known as wrist joints) have been carefully designed to ensure precise torque transmission and joint control.
4 joints: Rotation is usually achieved directly through a motor and planetary reducer.
The planetary gearbox can provide high reduction ratio and large output torque, ensuring the stability and accuracy of the four joints.
5 joints: Torque is transmitted to the end of the joint through a motor and synchronous belt.
Synchronous belts have the advantages of high transmission efficiency, low noise, and simple maintenance, making them suitable for situations that require high-speed rotation and precise control.
6-joint: Its motor is arranged slightly in front of the 5-joint motor, and torque is transmitted through a synchronous belt and bevel gear.
Umbrella gears can change the direction of torque transmission, allowing the 6-joint to rotate freely in space.
Transmission mode and precision control
KUKA robots also adopt advanced technology in the transmission mode and precision control of end joints.
Modular design: Each joint of collaborative robots (such as KUKA LBR iiwa, LBR Med) adopts modular design, and the joints are connected in series through linkages.
This design makes the structure of the robot more compact and flexible, while also improving the accuracy and reliability of the robot.
High precision sensors: The KUKA robot is equipped with high-precision sensors on the end joints for real-time monitoring of parameters such as joint position, velocity, and acceleration.
These sensors can ensure precise control of the end joints of the robot, thereby improving its motion accuracy and stability.
Advanced control algorithms: The KUKA robot adopts advanced control algorithms such as adaptive control, fuzzy control, etc.
These algorithms can adjust the robot's motion trajectory and speed in real-time based on the sensor data monitored, ensuring that the robot can move according to the predetermined trajectory and speed.