Design of Rotary Assembly for Precision Cobot

Description

Cobots or collaborative robots are robots that interact on a physical level with the operator. I was tasked at developing the rotary assembly of the final rotary joint of a medical cobot, which supports the payload, such as a surgical drill. The following are the required characteristics:

• High precision application

• Low Maintenance

• Easy to assemble

• Compact

A Kollmorgan direct drive motor was selected and encoder was an inductive encoder with high resolution. The assembly comprised of the frameless motor stator, rotor, encoder stator and rotor, bearings, shaft, housing, and retaining rings. The design considered Design for Manufacturing and Assembly principles and drawings were made considering GD&T principles. The design considered fool proofing methods, where the assembly can only be fit in one way and dismantled in the same way, thereby removing any misalignment issues. The design was completely made in Solidworks and parts were analyzed in Ansys. The encoder, bearing and motor design was downloaded from official website as well as the fasteners used in the design.

Result:

The Rendered 3d model of the assembly, the exploded and section views are shown below: