水平多關節工業機(ji)器人，包(bao)括底(di)座，底(di)座上(shang)設(she)置(zhi)(zhi)(zhi)(zhi)有(you)下臂，下臂上(shang)設(she)置(zhi)(zhi)(zhi)(zhi)有(you)上(shang)臂，上(shang)臂的(de)右側設(she)置(zhi)(zhi)(zhi)(zhi)有(you)驅動(dong)(dong)(dong)電機(ji)、主動(dong)(dong)(dong)帶(dai)輪、從動(dong)(dong)(dong)帶(dai)輪、花鍵軸(zhou)(zhou)、諧波減速(su)機(ji)以及傳動(dong)(dong)(dong)軸(zhou)(zhou)，驅動(dong)(dong)(dong)電機(ji)豎(shu)直設(she)置(zhi)(zhi)(zhi)(zhi)在主動(dong)(dong)(dong)帶(dai)輪的(de)上(shang)方(fang)，主動(dong)(dong)(dong)帶(dai)輪在驅動(dong)(dong)(dong)電機(ji)的(de)驅動(dong)(dong)(dong)下進行(xing)轉(zhuan)動(dong)(dong)(dong)，從動(dong)(dong)(dong)帶(dai)輪設(she)置(zhi)(zhi)(zhi)(zhi)在主動(dong)(dong)(dong)帶(dai)輪的(de)右側并(bing)通(tong)過(guo)同步帶(dai)與(yu)主動(dong)(dong)(dong)帶(dai)輪同步轉(zhuan)動(dong)(dong)(dong)，從動(dong)(dong)(dong)帶(dai)輪的(de)中(zhong)(zhong)心豎(shu)直設(she)置(zhi)(zhi)(zhi)(zhi)有(you)傳動(dong)(dong)(dong)軸(zhou)(zhou)，傳動(dong)(dong)(dong)軸(zhou)(zhou)貫穿從動(dong)(dong)(dong)帶(dai)輪且向(xiang)下延伸形成延伸部，諧波減速(su)機(ji)設(she)置(zhi)(zhi)(zhi)(zhi)在傳動(dong)(dong)(dong)軸(zhou)(zhou)的(de)延伸部上(shang)，傳動(dong)(dong)(dong)軸(zhou)(zhou)的(de)中(zhong)(zhong)心設(she)置(zhi)(zhi)(zhi)(zhi)有(you)花鍵軸(zhou)(zhou)，花鍵軸(zhou)(zhou)貫穿諧波減速(su)機(ji)并(bing)向(xiang)外延伸，諧波減速(su)機(ji)通(tong)過(guo)花鍵母與(yu)傳動(dong)(dong)(dong)軸(zhou)(zhou)固定連(lian)接。

　　諧波減(jian)速機(ji)主要特點：

　　(1)傳動比大，單級為(wei)50—300;

　　(2)傳動平(ping)穩(wen)，承載能力高;

　　(3)傳動效率高,可達70%—90%;

　　(4)傳(chuan)動(dong)精度高,比普(pu)通(tong)齒輪傳(chuan)動(dong)高3—4倍(bei);

　　(5)回差小(xiao)(xiao)，可小(xiao)(xiao)于3;

　　(6)不能(neng)獲(huo)得中間輸出，柔輪剛度較低。

　　諧波(bo)減速機在機器(qi)人(ren)技術比較先進的(de)國(guo)家已得到了廣泛的(de)應用。僅就(jiu)日本來說(shuo)，機器(qi)人(ren)驅動(dong)裝置的(de)60%都采用了諧波(bo)傳動(dong)。