Design Method of Intelligent Ropeway Type Line Changing Robot Based on Lifting Force Control and Synovial Film Controller

Table 1

The design content of the line changing robot.

	Content	Purpose
1	Simplify	Reduce structural complexity
2	Redundancy	Redundancy of key structural parameters, functional realization
3	Derating	Reduce the failure rate of components
4	Components outline	Control and manage electronic components and mechanical parts
5	Critical and important	Utilize existing resources to improve the reliability of key and important parts
6	Environmental protection	Choose appropriate materials or solutions to requirements of waterproof, electromagnetic protection, ambient temperature, and humidity.
7	Software reliability	By adopting N-version programming and implementing software engineering and specifications to improve critical reliability
8	Packaging, shipping, storage	Determine packaging protection measures, meet shipping, storage requirements
9	Ergonomics	Make the equipment easy to operate and maintain