An industrial robot manipulator is a mechanical device composed of a machine base, an arm, a wrist and a end actuator. From the perspective of the way the robot completes the work, the manipulator is composed of arm tissue, wrist tissue and end actuator. Its structural scheme and its motion planning are the key points of the whole robot planning.
(1) Planning of the manipulator arm organization
The arm tissue is generally 2-3 degrees of freedom, and it is required to realize three types of movement: reversal, pitch, lifting or elasticity. When planning the arm organization, it is necessary to confirm its structural type and size, and also consider the influence of the components of various components on its movement speed, accuracy and stiffness.
(2) Planning of the wrist organization of the operating machine
The wrist tissue is generally 1-3 degrees of freedom, and it is required to realize three movement modes: reversal, deflection or swing and pitch.
When planning the wrist tissue, it is necessary to confirm its structure and continuing size, and pay attention to the induced movement. In order to make its organization compact, it is necessary to reduce its weight and volume, so as to facilitate the placement of the drive transmission and improve the accuracy of the wrist movement.
(3) Planning of the end actuator
According to the requirements of different work missions, first confirm its type and organization, and try to make its type and organization as simple as possible, compact and lightweight, so as to reduce the load on the arm.
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The characteristics of the T-series robots are as follows:
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Epson Robot TP3 Teach Pendant Part Name Function
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Tools/Raw Materials
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Epson pressure sensor features:
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