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A robot joint drive requires

  • A.constant speed with no position feedback of any kind
  • B.the largest possible inertia to smooth the motion
  • C.one-quadrant operation in a single direction only
  • D.accurate position control with low backlash

Answer: D

The end effector's accuracy depends on every joint, and lost motion anywhere in the train shows up directly as error. Harmonic or cycloidal gearing with magnet servo machines and high-resolution feedback is the standard arrangement.

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