SIASUN Robot - What are the main driving mechanisms of the manipulator?

Create Date: 2024-8-30 12:03:23|Source: SIASUN/SIASUN

There are four main types of drive mechanisms used in manipulators: hydraulic drive, pneumatic drive, electrical drive and mechanical drive.

1. Hydraulically driven

The hydraulically driven manipulator usually consists of a hydraulic motor (various cylinders, oil motors), servo valves, oil pumps, oil tanks, etc., and the driving manipulator actuator works by the driving manipulator actuator. Usually it has a large lifting capacity (up to several hundred kilograms or more), and it is characterized by compact structure, smooth action, impact resistance, vibration resistance, and good explosion-proofness, but the hydraulic components require high manufacturing accuracy and sealing performance, otherwise oil leakage will pollute the environment.

2. Pneumatic driven

Its drive system is usually composed of cylinders, valves, air tanks and air compressors, which are characterized by convenient air source, fast action, simple structure, low cost and convenient maintenance. However, it is difficult to control the speed, and the air pressure should not be too high, so the snatching capacity is low.

3. Electrically driven electric drive is the most used driving method of manipulator. It is characterized by convenient power supply, fast response, large driving force (the weight of the joint type has reached 400kg), convenient signal detection, transmission and processing, and can adopt a variety of flexible control schemes. The drive motor generally adopts stepper motor, and DC servo motor (AC) is the main driving mode. Due to the high speed of the motor, it is usually necessary to use a reduction mechanism (such as harmonic transmission, RV cycloidal pinwheel transmission, gear transmission, spiral transmission and multi-rod mechanism, etc.). Some manipulators have begun to use high-torque, low-speed motors without deceleration mechanisms for direct drive (DD), which can not only simplify the mechanism, but also improve the control accuracy.

4. Mechanically driven

Mechanical drives are only used when the action is fixed. Generally, a cam linkage is used to achieve the specified action. It is characterized by reliable action, high working speed and low cost, but it is not easy to adjust. Others are equipped with hybrid drives, i.e. liquid-gas or electrical-hydraulic hybrid drives.
SIASUN Robot - What are the main driving mechanisms of the manipulator?


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