(1) Moralo oa Sebopeho sa Phetiso: Theha moralo oa kakaretso, fumana sebopeho sa sebopeho sa roboto, 'me u tsamaise moralo oa sebopeho sa phetisetso, moralo oa likarolo, le mohlala oa 3D. Baqapi ba tlameha ho tloaelana haholo le mefuta e tloaelehileng ea meralo ea liroboto, melaoana le meaho e tloaelehileng ea phetisetso, le mefuta le litšobotsi tsa ba fokotsang. Ba tlameha ho ba le bokhoni bo matla ba moralo oa sebopeho le boiphihlelo.
(2) Khetho ea Reducer: Baqapi ba tlameha ho ba le kutloisiso e tebileng ea mefuta ea meralo e fokotsang le moelelo oa liparamente tsa ts'ebetso, 'me ba tsebe ho khetha le ho bala ba fokotsang. Ba tlameha ho khona ho hlahloba le ho etsa liteko tse fokotsang, ho kenyelletsa lerata, vibrate, torque e hlahisoang, ho tiea ha torsional, backlash, repeatability, le ho nepahala ha boemo. Reducer vibration e ka baka-effector vibration, ho fokotsa tsela e nepahetseng ea roboto. Reducer vibration e na le lisosa tse fapaneng, tseo har'a tsona resonance e leng bothata bo tloaelehileng. Likhamphani tsa liroboto li tlameha ho tseba mekhoa ea ho hatella kapa ho qoba molumo.
(3) Khetho ea Likoloi: Baqapi ba tlameha ho ba le kutloisiso e felletseng ea litšobotsi tsa ts'ebetso ea makoloi mme ba tsebe ho bala le ho netefatsa torque ea motlakase, matla le inertia.
(4) Tlhahlobo ea Ketsiso: Tlhahlobo e tsitsitseng le e matla ea ho etsisa ho etsoa ho netefatsa khetho ea li-motor le li- reducers, le ho netefatsa matla le ho satalla ha likarolo tse kholo tsa 'mele. Sena se fokotsa boima ba 'mele oa mantlha, se ntlafatsa ts'ebetso ea roboto e sebetsang hantle,' me se theola litšenyehelo. Tlhahlobo ea modal e etsoa ka mokhoa oa 3D ho bala maqhubu a tlhaho, a thusang ho hatella resonance.
(5) Moqapi oa Tšepahala: Moralo oa sebopeho o amohela molao-motheo oa ho nolofatsa. Likarolo tsa tšepe tse ka sehloohong tsa 'mele li sebelisa tšepe ea ductile e nang le ts'ebetso e ntle e felletseng,' me likarolo tsa aluminium tse entsoeng ka tšepe li sebelisa lisebelisoa tse nang le mokelikeli o motle, li sebelisa ho lahla hlobo ea tšepe. Litaelo tse felletseng tsa ho kopanya lia hlokahala bakeng sa ho kopanya, 'me liteko tsa likarolo le tse ling{3}}li etsoa nakong ea kopano. Kamora kopano, tlhahlobo ea ts'ebetso ea mochini ka kakaretso le tlhahlobo ea khatello ea nako e telele lia etsoa. Kakaretso ea ts'ireletso ea mochini e ntlafetse, 'me matla a ho thibela{6}}ts'oenyeho a khabinete ea motlakase a matlafalitsoe ho ikamahanya le maemo a fapaneng a ts'ebetso.
