1. Working space and carrying capacity:
1) The length of the standard single root of Cartesian coordinate type is 6m, and it can reach 100m after assembly; Combined into a gantry robot, its working space can be a very three-dimensional space. A single root can carry 10-200kg, and the special structure can reach 2400 kg.
2) The maximum working radius of the joint type is 3m, and it can work at any angle within the effective radius. The carrying capacity is available in several sizes 5-20Kg, but the maximum is 1300Kg, which is extremely expensive.
Second, the accuracy of work
1) Cartesian coordinate type: due to the simple structure, the repeated positioning accuracy is 0.05mm, and the lead screw type can reach 0.01mm, or even higher.
2) Joint type: repeat positioning accuracy 0.06mm, light load small radius 0.02mm, heavy load accuracy 0.2mm.
3. Combination
1) Cartesian coordinate type has a variety of combinations, gantry type, cantilever type, wall-mounted type, etc., which can be customized for customers according to different loads, strokes, functions and special space requirements. At the same time, on the basis of X, Y and Z, the rotation axis and the flip axis can be extended to form a five-degree-of-freedom and six-degree-of-freedom robot.
2) The joint type can be subdivided into 6 degrees of freedom robots, Scara robots, and four-link robots, with relatively few types, and the selectivity and flexibility are much smaller than those of the Cartesian coordinate type.
4. Mechanical installation and maintenance
1) Cartesian coordinate type is a modular product, users can disassemble, replace or maintain by themselves, all mechanical parts are general, and the maintenance cost is low.
2) The articulation type has a high degree of integration and good integrity, but it requires professionals to carry out mechanical installation. The installation space is smaller than that of the Cartesian coordinate type, but its working space is its entire working radius, and the working area needs to be protected, so the total area of the equipment is not less than the Cartesian coordinate type.
5. Software programming, control and maintenance
1) From the electrical system to the Cartesian coordinate type of the host computer, it is open and flexible. The programming is simple, the user can expand it at will, and the operation is simple and easy to operate.
Simple program problems and hardware failures can be dealt with by the customer themselves, such as replacing the drive motor, PLC, etc., with low maintenance costs.
2) Articulated robot: the software system is integrated, and the library function is directly called, which is its software advantage. However, programming and control must be completed by the supplier through professional training (the manufacturer's software programming fee is 300 yuan/hour), and special software needs to be charged.
Maintenance and repair are completely controlled by people, due to the incompatibility of brands, hardware failures must be provided directly by suppliers or manufacturers, non-market products, and high costs.
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