(1) Transmission structurel design: Ka labɛn bɛɛ lajɛlen dɔ labɛn, ka robo jɔcogo dɔn, ani ka transmission structure design fɔlɔ kɛ, ka component structure design ani 3D modeling kɛ. Dilanbagaw ka kan ka robow jɔcogo dɔn kosɛbɛ, u ka fɛnw cicogo sariyakolow ni u jɔcogo minnu bɛ kɛ ɲɔgɔn fɛ, ani fɛn minnu bɛ dɔgɔya, olu suguyaw n’u cogoyaw. U ka kan ka kɛ ni jɔli seko ni dɔnko barikama ye.
. U ka kan ka se ka dɔgɔyalanw sɛgɛsɛgɛ ani k’u kɔrɔbɔ, i n’a fɔ mankan, yɛrɛyɛrɛ, bɔli girinya, torsion stiffness, backlash, segin-ka-bɔnye, ani jɔyɔrɔfalen. Reducer vibration bɛ se ka kɛ sababu ye ka end-effector vibration kɛ, ka robo ka taamacogo tiɲɛni dɔgɔya. Reducer vibration sababu suguya caman bɛ yen, minnu dɔw ye resonance ye gɛlɛya ye min bɛ sɔrɔ tuma caman na. Roboti sosiyetew ka kan ka fɛɛrɛw dɔn kosɛbɛ walasa ka rezɔn bali walima k’u yɛrɛ tanga.
(3) Motɛri sugandili: Motɛri dilannikɛlaw ka kan ka motɛri baarakɛcogo faamuya kosɛbɛ ani ka se ka motɛri girinya, a fanga ani a baarakɛbaliya jate ani k’a sɛgɛsɛgɛ.
(4) Simulasi sɛgɛsɛgɛli: Simulasi sɛgɛsɛgɛli jɔlen ni fangama bɛ kɛ walasa ka motɛriw ni dɔgɔyalanw sugandili sɛgɛsɛgɛ, ani ka farikolo yɔrɔ kolomaw fanga n’u gɛlɛya sɛgɛsɛgɛ. O bɛ dɔ bɔ farikoloba girinya la, ka robo ka baara kɛcogo ɲɛ, ka musakaw dɔgɔya. Modali sɛgɛsɛgɛli bɛ Kɛ 3D modɛli kan walasa ka jatebɔ Kɛ natural frequences (fɔkanw) kan, o min bɛ dɛmɛ ka resonance (fɔkan) Damatɛmɛ.
(5) Daŋaniya labɛncogo: Jagokɛyɔrɔ dilanni bɛ sariyakolo ta min ye ka fɛnw nɔgɔya. Farikolo nɛgɛma yɔrɔ kolomaw bɛ baara kɛ ni nɛgɛ ye min bɛ se ka wuli ni baarakɛcogo ɲuman ye min bɛ se ka kɛ fɛn bɛɛ ye, ani aliminiyɔmu yɔrɔ minnu bɛ kɛ ni nɛgɛ ye, olu bɛ baara kɛ ni nɛgɛ ye min bɛ se ka wuli ka ɲɛ, ka baara kɛ ni nɛgɛ ye min bɛ kɛ ni nɛgɛ ye. Lajɛ kɛcogo ɲɛfɔli dafalenw ka kan ka kɛ lajɛ la, wa yɔrɔw ni fɛn kelen-kɔrɔbɔliw bɛ kɛ lajɛ waati la. Lajɛ kɔfɛ, masin baarakɛcogo bɛɛ lajɛlen sɛgɛsɛgɛli ani a muɲuli degun sɛgɛsɛgɛli bɛ kɛ. Masina lakanani hakɛ bɛɛ lajɛlen bɛ ɲɛtaa sɔrɔ, wa kuran kabini ka se ka fɛnw bali ka don ɲɔgɔn na, o bɛ bonya walasa ka se ka ladamu baarakɛyɔrɔw la minnu tɛ kelen ye.
