Design technology of key bearings for industrial robots Part I: Thin walled four point contact ball bearing

Through analysing working conditions, structure forms, and technical requirements of thin walled four point contact ball bearing used for industrial robot, we propose the design theories and methods of key bearings for industrial robot and summarize the design points of thin walled four point contact ball bearing from the aspects of the optimal design of main parameters, the design of structural parameters, the design of the cage, and the design of the sealing structure.