Structural design and analysis of a robot joint integrated with brake

Abstract This paper proposes a novel robot joint with an integrated braking mechanism to enhance motion accuracy and flexibility. This joint design eliminates the need for additional bearings to support the motion shaft, resulting in lower cost and improved dynamic performance. A new dual-encoder installation method is employed in the design, which shortens the joint’s axial length and increases the radius of the optical grating without changing the joint’s outer diameter. Additionally, a newly designed electromagnetic brake is fully integrated within the joint, further improving compactness. Based on this design, finite element simulation is used to confirm the reliability of the joint’s support components and brake. Finally, a robotic joint experimental platform is constructed. The experimental results demonstrate that the joint exhibits excellent kinematic performance.