1. According to the coordinate method of the operating machine, it can be divided into:
(1) Cartesian coordinate industrial robots
Its moving part is composed of three straight lines moving (i.e., PPP) in a straight line with each other, and its working space is rectangular. It can be directly read out on each coordinate axis in the movement interval of each axis, strong intuitiveness, easy to program and calculate the orientation and attitude, high positioning accuracy, no coupling in control, and simple structure, but the space occupied by the body is large, the range of action is small, the sensitivity is poor, and it is difficult to work harmoniously with other industrial robots.
(2) Cylindrical coordinate industrial robots
Its motion method is realized by a motion system composed of a rolling and two movements, and its working space graphic is cylindrical, compared with Cartesian coordinate type industrial robot, under the same working space conditions, the body occupies a small volume, and the range of motion is large, and its azimuth accuracy is second only to Cartesian coordinate type robot, and it is difficult to work in harmony with other industrial robots.
(3) Spherical coordinate industrial robots
Also known as polar coordinate industrial robot, the movement of its arm is composed of two rolling and a straight line movement (i.e., RRP, a reversal, a pitch and a telescopic movement), and its working space is a sphere, which can do up and down pitch action and can grasp the harmonious workpiece on the ground or teach low orientation, its orientation accuracy is high, and the orientation error is proportional to the arm length.
(4) Multi-articulated industrial robots
Also known as the reverse coordinate industrial robot, the arm of this industrial robot is similar to the upper limb of the human body, and its first three joints are the reverse pair (i.e., RRR), the industrial robot is generally composed of a column and a large and small arm, the column and the large arm are seen to form a shoulder joint, and an elbow joint is formed between the large arm and the small arm, which can make the large arm do reverse movement and pitch swing, and the small arm does pitch swing. Its structure is the most compact, sensitive, occupies the smallest area, and can work in harmony with other industrial robots, but the azimuth accuracy is low, there are balance problems, and the control coupling is becoming more and more widely used.
(5) Plane articulated industrial robots
It uses one moving joint and two inverted joints (i.e., PRR) to move the joints up and down, while two inverting joints control the forward-forward, left-right movements. This method of industrial robots is also known as SCARA (Seletive Compliance Assembly Robot Arm) installation robots. In the horizontal direction, it has a gentle nature, and in the straight direction, it has the rigidity of the university. It has a simple structure and sensitive action, and is mostly used in installation operations, especially suitable for the plugging and installation of small standard parts, such as being widely used in the plugging and installation of the electronics industry.
2. According to the driving method, it can be divided into:
(1) Pneumatic industrial robots
This kind of industrial robot uses compressed air to drive the manipulator, its advantage is that the air source is convenient, the action is fast, the structure is simple and the cost is low, no pollution, the disadvantage is that the air has compressibility, resulting in the poor stability of the operation speed, and because the air source pressure is generally only about 6kPa, so the gripping force of this kind of industrial robot is small, generally only tens of Newtons, the maximum is more than 100 Newtons.
(2) Hydraulic industrial robots
The hydraulic pressure is much higher than the pneumatic pressure, generally about 70kPa, so the hydraulic transmission industrial robot has a large grasping ability, up to thousands of Newtons. This kind of industrial robot has a compact structure, stable transmission and sensitive action, but it has high sealing requirements and is not suitable for operation in high or low temperature environments.
(3) Electric industrial robots
This is now the most used type of industrial robot, not only because of the many varieties of motors, providing a variety of options for the design of industrial robots, but also because they can use a variety of sensitive control methods. In the early days, stepper motor drives were mostly used, and later DC servo drive units were developed, and now communication servo drive units are also rapidly developing. These drive units either drive the manipulator directly, or drive after deceleration by means such as harmonic reducers, and are very compact and simple.
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The main parameter of the industrial robot is the KUKA robot
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Structural features of industrial robots - KUKA robots
1. Programming
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