(1) Transmission Structure Design: Yawng hkra masing jahkrat nna, Robot a hkrang hpe dawdan nna, shawng nnan hta shapoi ai hkrang hpe hkrang shapraw ai, daw ni hpe hkrang shapraw ai, 3D hkrang shapraw ai lam ni hpe galaw na. Design galaw ai ni gaw, n bung ai robot hkrang masa ni, n bung ai transmission npawt tara ni hte hkrang masa ni, reducer ni a amyu hte arawn alai ni hpe grai chye na ra ai. Shanhte hta ngang kang ai structural design atsam marai hte mahkrum madup nga ra ai.
(2) Reducer hpe lata ai lam: Design galaw ai ni gaw reducer structure amyu myu hte bungli galaw ai lam a lachyum hpe sung sung chye na ra ai, reducer ni hpe lata nna sawn la chye ra ai. Shanhte gaw nsen, n-gun shayawm ai lam, pru wa ai torque, torsional stiffness, backlash, bai nhtang galaw lu ai lam, shara jahkrat ai lam ni lawm ai shayawm ai lam ni hpe jep joi nna chyam dinglik lu ra ai. Reducer n-gun gaw end-effector n-gun hpe shabyin ya lu nna, Robot a lam hkawm sa ai lam hpe hkrak hkra galaw ya lu ai. Reducer vibration byin pru wa ai lam amyu myu nga ai, dai ni hta resonance gaw byin chye ai manghkang langai mi rai nga ai. Robot company ni gaw, nsen hpe pat shingdang na (sh) koi gam na ladat ni hpe chye da ra ai.
(3) Motor hpe lata ai lam: Design galaw ai ni gaw, motor a bungli galaw ai atsam hpe atsawm chye na nna, motor a torque, power, inertia ni hpe sawn la nna, jep joi chye ra ai.
(4) Simulation Analysis: Motor hte reducer ni hpe lata ai lam hpe jep chyoi na matu, hkum hkrang a madung daw ni a n-gun hte n-gun n-gun hpe jep chyoi na matu, static hte dynamic simulation analysis hpe galaw ai. Dai gaw, madung hkum hkrang a n-gun hpe shayawm ya nna, Robot a bungli hpe grau kaja hkra galaw ya ai, manu jahpu hpe mung shayawm ya ai. Modal analysis hpe 3D model ntsa kaw galaw nna shingra tara frequency ni hpe sawn la ai, dai gaw resonance hpe pat shingdang na matu karum ya ai.
(5) Kam hpa mai ai hkrang shapraw ai lam: Structure hkrang shapraw ai lam hta asan sha galaw ai ngu ai npawt tara hpe hkan sa ai. Madung hkum hkrang na magri daw ni gaw ductile magri hpe lang nna, hkum tsup ai hku galaw lu ai atsam nga ai, cast aluminum daw ni gaw kaja ai fluidity hte casting arung arai ni hpe lang nna, metal mold casting hpe lang ai. Hpungdim galaw na matu, hpawng chyawm ai lam hpe hkrak tup tsun dan ra ai, hpawng chyawm ai shaloi, component hte single-axis chyam dinglik ai lam ni hpe galaw ra ai. Hpungdim ngut ai hpang, jak a bungli galaw ai lam yawng hpe chyam dinglik ai lam hte ngang grin ai lam hpe chyam dinglik ai lam ni hpe galaw ai. Dai jak a makawp maga ai madang yawng hpe grau kaja hkra galaw ya ai, bungli galaw ai shara amyu myu hta hkan nna, wan jak a anti-interference atsam hpe mung grau kaja hkra galaw ya ai.
