(1) Subject
The main machine is the base and the implementation mechanism, including the big arm, the small arm, the wrist and the hand, which is a multi-degree-of-freedom mechanical system. Some robots have other walking mechanisms. Industrial robots have 6 degrees of freedom or more, and the wrist has 1-3 degrees of freedom of movement.
(2) Drive system
The gearing that makes the robot run. According to the power source, it is divided into three categories: hydraulic, pneumatic and electric. Depending on the requirements, these three paradigms can also be combined and combined with a drive system. Perhaps it is driven indirectly by mechanical transmission mechanisms such as timing belts, gear trains, gears, etc. The drive system has a power device and a transmission mechanism, which is used to implement the mechanism to produce the corresponding action, and the three types of base drive systems have their own characteristics, and now the mainstream is the electric drive system.
(3) Control system
According to the operation instruction program of the robot and the signal feedback from the sensor, the actuator of the robot is assigned to complete the specified motion and function.
The cost-effective microprocessor has brought a new opportunity for the development of the robot controller, making it possible to develop a low-cost and high-function robot controller. In order to make the system have sufficient computing and storage capabilities, the robot controller now receives more powerful ARM series, DSP series, POWERPC series, Intel series and other chips.
(4) Perception system
It consists of an internal sensor module and an external sensor module to obtain information on the internal and external environmental status.
Internal sensors: Sensors used to detect the robot's own state (such as the angle between arms), mostly sensors that detect orientation and angle. The details are: azimuth sensor, azimuth sensor, angle sensor, etc.
External sensor: A sensor used to detect the environment in which the robot is located (e.g., detecting objects, spacing between objects) and situations (e.g., detecting whether an object is being picked up or not to fall). In detail, there are interval sensors, vision sensors, force sensors, etc.
The use of intelligent sensing system improves the mobility, practicability and intelligent specification of robots, and the human perception system is robotic dexterous to external international information, however, regarding some licensed information, sensors are more effective than human systems.
(5) End effector
The end effector is attached to the part of the last joint of the manipulator, which is generally used to grasp the object, connect with other mechanisms and perform the required mission.
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1. Robot weight
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2. Repeat positioning accuracy:
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