Typically, a six-axis robot is equipped with three harmonic reducers.
1. Typical Application Positions of Harmonic Reducers
In the joint drive system of a six-axis robot, harmonic reducers are commonly used on axis 2, axis 3, and axis 4. These axes need to handle medium to high loads while maintaining motion accuracy. The high torque density and zero-backlash characteristics of harmonic reducers help improve repeatability and stability during high-speed motion, making them suitable for industrial welding, precision assembly, and similar applications.
2. Differences in Transmission Design Across Axes
Axis 1, the base rotation axis, usually faces higher inertia and may use an RV reducer instead. Axis 5 and axis 6, which are located at the end of the arm and carry lighter loads, may use planetary gears or direct-drive motors to improve flexibility. For example, some Yaskawa MOTOMAN models adopt lightweight wrist joint designs to optimize dynamic performance.
Different manufacturers adjust reducer configurations based on cost and performance requirements. Collaborative robots may use harmonic reducers on all axes to reduce size, while industrial models more often use a mixed configuration. In practice, reducer selection should match the robot's load parameters and operating conditions.
For custom reducer flanges, adapter plates, or related mounting components required during integration or maintenance, Hansheng Automation provides precision machining based on customer drawings, supporting tight tolerances and appropriate material selection.
