Industrial robots are multi - joint manipulators or multi - degree - of - freedom machine devices widely used in the industrial field. They have a certain degree of autonomy and can achieve various industrial processing and manufacturing functions relying on their own power sources and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical engineering.

Generally speaking, an industrial robot consists of three major parts and six subsystems.

The three major parts are the mechanical part, the sensing part, and the control part.

The six subsystems can be divided into the mechanical structure system, the drive system, the perception system, the robot - environment interaction system, the human - machine interaction system, and the control system.

Key technologies

1. Key technologies for ontology design

(1) Transmission structure design

Draw up an overall plan, determine the structural form of the robot, and conduct preliminary transmission structure design, part structure design, and three - dimensional modeling accordingly. Designers are required to be very familiar with the common structural forms of robots, common transmission principles and structures, and the types and characteristics of reducers, and should have strong structural design capabilities and experience.

(2) Reducer selection

One should have a deep understanding of the structural types of reducers and the meanings of performance parameters, and be able to select, calculate, and verify reducers. One should also be able to detect and test reducers. The main contents of the detection include noise, jitter, output torque, torsional stiffness, backlash, repeatability positioning accuracy, and positioning accuracy. The vibration of the reducer will cause the jitter of the robot's end, reducing the trajectory accuracy of the robot. There are various reasons for the vibration of the reducer, among which resonance is a common problem. Robot enterprises must master the methods to suppress or avoid resonance.

(3) Motor selection

One must have a good understanding of the working characteristics of motors and be able to calculate and verify the torque, power, and inertia of motors.

(4) Simulation analysis

Conduct static and dynamic simulation analysis, verify the selection of motors and reducers, check the strength and stiffness of the ontology parts, reduce the weight of the ontology, improve the working efficiency of the robot, and reduce costs. Conduct modal analysis on the three - dimensional model to calculate the natural frequency, which is helpful for resonance suppression.

(5) Reliability design

The structural design should follow the principle of the simplest design; the ontology cast iron parts should use ductile iron materials with good comprehensive performance, and the cast aluminum parts should use casting materials with good fluidity, and metal mold casting should be adopted; there should be detailed assembly process instructions for assembly, and there should be tests of components and single axes during the assembly process; after assembly, there should be tests of the overall machine performance and endurance tests; improve the design of the protection level of the overall machine and enhance the anti - interference ability of the electrical cabinet to adapt to different working environments. [5]