项目介绍|Project introduction

本项目为无刷FOC驱动的一体机械臂关节，内部减速器采用行星轮减速器设计。

• 两级行星减速器，齿轮模数0.7，一级减速比1：6.6，二级减速比1:4.5，总减速比1:29.7
• 输出轴设计能承载一定径向力
• 实际输出扭矩大约在1-2N·M之间，视电机情况而定
• 可通过单总线串联使用多个关节

This project is an integrated robot arm actuator driven by brushless FOC, and the reducer is designed with planetary gear reducer.

• Two-stage planetary gear reducer, gear module 0.7, primary reduction ratio 1:6.6, secondary reduction ratio 1:4.5, total reduction ratio 1:29.7
• The output shaft is designed to bear a certain radial force
• The actual output torque is about 1-2N·M, depending on the motor
• Multiple actuator can be used in series via a single bus

所需附件|Accessories

除打印件外，还需要五金件和电机、驱动器，所需附件列表如下

• M2X14沉头内六角螺钉6根
• M2X6平头内六角螺钉12根
• M2X10平头内六角3根
• M3X6平头内六角3根
• M2X4X4热熔螺母12个
• M3X5X4.5热熔螺母6个
• 3X8销6根
• 3X8X4轴承6个
• 30X37X4轴承1个
• FICO28S驱电一体系统1套（某宝搜FICO28S）
• 润滑脂

In addition to the printed parts, also need hardware and motor, drive, required accessories list as follows

• 6 M2X14 countersunk head hex socket screws
• 12 M2X6 flat head hex socket screws
• 3 M2X10 flat head hexagon 
• 3 M3X6 flat head hexagon 
• 12 M2X4X4 hot melt nuts 
• 6 M3X5X4.5 Hot melt nuts 
• 6 3X8 pins
• 6 3X8X4 bearings
• 1 30X37X4 bearing 
• FICO28S drive integrated system 1 set（not available outside China yet）
• grease

Attention

The brushless motor and driver board used in this project is only available in China. If you cannot get them, it’s ok to find a 2804 gimbal motor and driver board to replace. However in order to fit the mechanical parts，you have to re-design some of print model. STP file is given so that you can modify them easily.

装配步骤|Assembly procedure

1.打印出所有模型，准备好附件如下图

1.Print out all models and prepare the accessories as shown below.

2.将所有3X8X3轴承压入齿轮中，然后3X8销插入轴承中，把销压入齿轮架中，注意大齿轮安装在一级减速，小齿轮安装在二级减速，安装完成后在齿轮上涂抹充足的润滑脂。

2.Press all 3X8X3 bearings into the gear, then 3X8 pin into the bearing, press the pin into the gear frame, note that the big gear is installed in the first reduction, the small gear is installed in the second reduction, after installation, apply sufficient grease on the gear.

3.用电烙铁把M2热熔螺母压入齿圈中，M3热熔螺母压入输出轴中

3.Use a soldering iron to press the M2 hot melt nut into the tooth ring and the M3 hot melt nut into the output shaft

4.把一级减速架放入齿圈中，将30X37X4轴承压到输出轴上，然后二级减速架与输出轴通过3颗M2X10平头内六角螺钉连接

4.Put the first reducer into the gear ring, press the 30X37X4 bearing to the output shaft, and then the second reducer and the output shaft are connected by three M2X10 flat head hex head screws

5.把二级减速架放到齿圈里，与一级减速啮合。用6颗M2X6平头内六角螺钉安装轴盖。

5.Put the secondary reducer into the gear ring and engage with the primary reducer. Install the shaft cover with six M2X6 flat head hex head screws.

6.把FICO28S驱电一体FOC驱动安装到电机座上，电机输入轴通过3颗M2X6螺钉安装到电机上

6.The FICO28S drive integrated FOC drive is installed on the motor base, and the motor input shaft is installed on the motor through three M2X6 screws

7.安装6颗M2X14沉头内六角螺钉后，装配完成。

7.The assembly is complete after six M2X14 countersunk head hex head screws are installed.

成品展示|Finished Product show