The hard-arm power-assisted manipulator is a high-tech production equipment developed in recent decades, which has the advantages of both human and machine in structure and performance, especially reflecting the intelligence and adaptability of human, the accuracy of the assisted manipulator operation and its ability to complete the operation in various harsh environments, and has a broad application prospect in various fields of national economy.

Frame and motion drive mechanism is the basic components of the industrial hard-arm power-assisted manipulator, one without the other. All parts of the hard-arm power-assisted manipulator actuator and drive system (AC servo motor, reducer) are mounted on the frame of the industrial hard-arm power-assisted manipulator, and the frame plays a role in carrying and connecting to a certain extent. The base of the power-assisted manipulator is divided into a fixed base and a walking base, and generally speaking Most of the industrial hard-arm power-assisted manipulator's base is fixed, however, with the development of the economy and the continuous innovation of science and technology, more and more people are beginning to pay attention to the application and research of mobile hard-arm power-assisted manipulator and automatic walking hard-arm power-assisted manipulator.

The motion transmission mechanism of the assisted manipulator mostly adopts the spiral transmission method, which can be used to transfer motion or energy for the occasion of transferring energy, such as spiral press, jack, etc. In the design of this swinging hard-arm assisted manipulator, the screw is mainly used to transfer motion, and the AC servo motor is connected to the screw, which converts the rotary motion of the AC servo motor into the linear motion of the hard-arm assisted manipulator.

Generally speaking, the screw can be divided into common screw (sliding friction) and ball screw (rolling friction). The common screw has relatively low production cost and easy processing, but the frictional resistance during the motion is high and the transmission efficiency is not high.

Ball screw has more complex structure and higher cost, but because the friction generated by ball screw in motion belongs to rolling friction, low friction resistance, high transmission efficiency, good motion stability, not easy to produce vibration or noise, high flexibility, in addition, when installing ball screw, you can exclude the clearance between the screw and the nut by applying a certain amount of preload, so as to improve the motion transmission rigidity of the mechanism; and ball screw has high motion feed accuracy and positioning accuracy, better motion synchronization, simple lubrication and long service life; therefore, ball screw motion transmission mechanism is mostly used in the production field of industrial robots to transmit the required motion.

Any part of the assistant robot is extremely important, and the frame structure and motion transmission mechanism are extremely important to the whole motion process of the assistant robot, so the design should consider the adaptation and coordination with the whole production process.