Design and Performance Test of A 6-Rotational-Joint Machining Robotic Arm Based on Harmonic Actuator

Aiming at machining tasks with high volume of material removal, we design a 6R (6-Rotational-joint) machining robotic arm with harmonic actuator. Through the compact design of the structure, the stiffness of this serial robot is enhanced. With the laser tracker system, the absolute positioning accuracy and trajectory tracking accuracy of the robot are measured. Milling experiment is implemented to prove its capability in industrial machining.