Robot system composition Wikipedia:
The robot system is composed of the robot, the working object and the environment, including four parts: mechanical system, drive system, control system and perception system.
Mechanical systems
The mechanical system of the industrial robot includes parts such as the fuselage, arm, wrist, end operator and walking mechanism, each of which has several degrees of freedom, thus constituting a mechanical system with multiple degrees of freedom. In addition, some robots also have a walking mechanism. If the robot has a walking mechanism, it constitutes a walking robot; If the robot does not have a walking and lumbar rotation mechanism, it constitutes a single robot arm. The end manipulator is an important component mounted directly on the wrist, which can be a two-finger or multi-finger claw, or a working tool such as a paint gun and welding torch. The mechanical system of an industrial robot acts as a human body (such as bone marrow, hands, arms and legs, etc.).
Drive system
The drive system mainly refers to the drive device that drives the action of the mechanical system. According to the different drive sources, the drive system can be divided into electrical, hydraulic and pneumatic three types and a comprehensive system that combines them. This part acts as a human muscle.
Electric drive systems are widely used in industrial robots, which can be divided into three driving forms: stepper motor, DC servo motor and AC servo motor. In the early days, stepper motor drives were mostly used, and later DC servo motors were developed, and AC servo motor drives were gradually applied.
Our company provides professional servo motor product technical support services. Provide servo motor, drive, stepper motor, stepper motor, deceleration stepper motor, linear stepper motor, brake stepper motor, waterproof stepper motor, intelligent closed-loop stepper motor, stepper motor driver, integrated stepper servo motor, brushless DC motor, brushless DC driver, Shinano stepper motor, gear reduction stepper motor and Singapore PBA linear motor and other brand products.
Some of the above drive units are used to directly drive the mechanism movement: some drive the mechanism to move after decelerating through the harmonic reducer, and its structure is simple and compact.
The hydraulic drive system moves smoothly and has a large load capacity, and it is more reasonable to use hydraulic drive for robots with heavy load handling and parts processing. However, hydraulic drive has the disadvantages of complex pipelines and difficult cleaning, which limits its application in assembly operations.
Whether electrically or hydraulically driven, the opening and closing of the claws are pneumatic. The pneumatic drive robot has a simple structure, fast action and low price, but due to the compressibility of air, the stability of its working speed is poor.
However, the compressibility of air can improve the compliance of the claw when grasping or clamping the object, and prevent the damage of the gripped object or the claw itself caused by excessive force. The pressure of the air pressure system is generally 0.7 MPa, so the gripping force is small, only tens to hundreds of cattle in size.