关键词: 一体化关节模组, 传动精度, 误差, 精度优化

Abstract: To meet the high-precision requirements of integrated robotic arm joint modules,we developed a numerical analysis model for the overall transmission accuracy of a motor-reducer drivetrain. The model investigates how various error sources within the integrated joint system affect transmission accuracy and enables optimization of error parameters based on the transmission accuracy formulation. After completing performance tests of the reducer ’ s transmission accuracy, we compared the simulation results with prototype test data, validating the reliability of the simulation model and the effectiveness of the error optimization.

Key words: integrated robotic arm joint modules, transmission accuracy, mechanical errors, transmission accuracy optimization