Stiffness Model of Single-Geared Joint with 3D-Printed Link in Robot Arm

摘要

For saving energy in industrial robots, we aim to establish a method for constructing lightweight robot components using metals and resins. Most gears and link parts in current industrial robots are made of metal. It is necessary to use resin in robot components to reduce their weight. However, resins are generally less stiff and can reduce performance. Link parts were made from metal or resin, and the stiffness of the robot arm in the axial and rotational directions was measured. Based on the experimental results, a stiffness model for the joint and link is proposed and the potential of a 3D-printed link in industrial robots is shown.