1) Scale planning optimization principle: When the design requirements meet certain working space requirements, the smallest arm size can be selected through scale optimization, which will be beneficial to welding.operating machineThe increase in stiffness further reduces the motion inertia.

2) Minimum motion inertia principle Since the operating machine has many moving parts and the motion state changes frequently, impact and vibration will inevitably occur. Adopting the minimum motion inertia principle can increaseoperating machineThe movement is smooth and the dynamic characteristics of the operating machine are improved. For this reason, when designing, attention should be paid to minimizing the mass of the moving parts while satisfying the strength and stiffness, and paying attention to the center of mass configuration of the moving parts relative to the rotating shaft.

3) Principles for selecting high-strength materials Since the wrist, forearm, big arm and base of the manipulator function as loads in sequence, it is necessary to select high-strength materials to reduce the mass of parts.

4) Principles of stiffness design In the design of manipulators, stiffness is a more important issue than strength. To maximize stiffness, the cross-sectional shape and size of the rod must be appropriately selected, the support stiffness and contact stiffness should be improved, the forces and moments acting on the arm should be reasonably arranged, and the bending deformation of the rod should be minimized.

5) Principles of craftsmanship: The robot manipulator is a high-precision, highly integrated automatic mechanical system. Good processing and assembly craftsmanship is one of the important principles to be reflected in the design. Only reasonable structural design without good workmanship will inevitably lead to a reduction in operating machine performance and an increase in cost.

6) Reliability principle: Due to the complex mechanism and many links of robot operating machines, reliability issues are particularly important. Generally speaking, the reliability of components should be higher than the reliability of components, and the reliability of components should be higher than the reliability of the entire machine. The probabilistic design method can be used to design parts or structures that meet the reliability requirements, and the reliability of the operating machine system can also be evaluated through the system reliability comprehensive method.