Collaborative Robots: Mechanical Systems

This lecture introduces the concept of collaborative robots, focusing on their fast execution speed and lack of contact or remote sensors. It covers the design of collaborative robotic arms, including their padded envelope bodies and assembly techniques. The lecture also delves into bolted assemblies, discussing self-locking mechanisms and the importance of thread contact transformation. Additionally, it explores prestressing in mechanical systems, explaining the internal closed-loop efforts and constitutive laws. Examples of prestressing applications, such as electric motor frets and coffee maker seals, are presented. The importance of load application factors and screw stiffness in mechanical systems is also discussed.