DESIGN OF THE MANIPULATOR ELECTROMECHANICAL SYSTEM

The article describes the process of designing the electromechanical system of a six-axis industrial robotic manipulator to move coils with a wound copper wire. The robot is mounted on a movable platform that moves along an overhead rail track. The general circuit of the robot as well as its simplified kinematics are considered. To set the robot manipulator in motion, it is proposed to use AC servo motors with integrated encoders together with planetary gearboxes, which will make it possible to achieve the necessary torques at high positioning accuracy. According to the results of calculating the necessary torques of the motors, equipment is selected that meets the above characteristics.