# Related Parameters of Robot Joint Module And Its Application in Practice

update:2023-05-11
abstract:When talking about robot joint module, we naturally think of robots, manipulators, etc. Yes, the rob...
When talking about robot joint module, we naturally think of robots, manipulators, etc. Yes, the robot joint modules are used here. They are in a limited small space and output a high-precision and reliable power with a certain torque. The robot joint is born for flexible movement, reduces the size of the power unit, reduces the weight of specific applications, and improves its action efficiency.

General Parts of Robot Joint Module:
1. Motor: power output source;
2. Reducer: harmonic drive is the most commonly used reducer, in addition to RV gearbox, planetary reducer, etc.;
3. Encoder: encoders are divided into absolute and relative encoders. Absolute encoders are often used to collect joint angles and place them at the joint output. Relative encoders are often used to adopt joint speeds, which are generally placed at the end of the motor to collect the speed of the motor;
4. Driver and controller: collaborative robot joint modules generally adopt integrated drive and control drivers, which can realize the functions of drive and control;
5. Torque sensor: some joint modules will use torque sensors, which will have certain advantages in force control;
6. Brake: used to achieve emergency braking;
7. Other mechanical parts: machined parts such as screws and bearings.

Technical Parameters of Robot Joint Module:
Electrical performance parameters: rated voltage, rated current, maximum peak current, encoder accuracy and resolution, motor pole pair number, repeat positioning accuracy;
The accuracy and resolution of the encoder are the most important technical parameters of the joint module. The resolution refers to the number of positions output by the encoder shaft for one revolution. It is also called the number of lines. The corresponding parameters are: the number of lines per revolution (line), the number of pulses per revolution (PPR), and the minimum step distance ( Step), Bit, etc., for example, 2500 lines 4 times the frequency, then its resolution is 2500*4=10000 pulses. The higher the resolution of the encoder is, the smaller the minimum scale of the motor will be. Then, the angular displacement of the motor rotation is smaller, and the control accuracy is higher. The accuracy of the encoder refers to the accuracy of the signal data output by the encoder to the measured real angle. The corresponding parameters are degrees (°), angular minutes (′), and arc seconds (″). For the understanding of the resolution and accuracy of the encoder, you can take the micrometer as an example. The resolution means that the micrometer can read a few decimal places at most, but the accuracy is also related to the processing accuracy of the ruler and the measurement method, and the same is true for the encoder.

Communication Protocol:
Robot joint module communication is a very important function. The frequently used communication is EtherCAT, CANopen, serial communication, and wireless communication, among which EtherCAT communication is highly efficient;
Mechanical performance parameters: size, weight, average torque, maximum instantaneous torque, continuous torque speed, rated speed;
Working environment requirements: IP rating, ambient temperature range.

Robot joint modules are mainly used in combination with robotic arms and robots to complete various actions to achieve different functions. There are many specific application scenarios, such as: production and manufacturing assembly lines, logistics industry, agricultural fruit picking, demonstration teaching, etc. The related application industries include at least warehousing and logistics, consumer goods processing and manufacturing, urban emergency security, energy and mineral mining, education, medical care, scientific research, commerce, agriculture, cleaning, nursing, duty, entertainment, etc.
The robot joint module components will most likely completely change the manufacturing process of industrial robots. Compared with traditional robot manufacturing methods, the use of this integrated robot joint module will greatly simplify the power integration of robot joints and lower the barriers to development and application of industrial robots. It allows robot manufacturers to focus more on the development of their robot application scenarios instead of entangled in complex power mechanical components.

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