With the acceleration of the transformation of China's manufacturing industry, the use of robots is becoming more and more frequent. As a technical engineer in the factory, it is necessary to understand the related technologies of robots. What components of general robots are composed?
The robot acts as a system and consists of the following components:
Robot or mobile car: This is the main part of the robot, consisting of connecting rods, moving joints and other structural components, so that the robot reaches a certain position in space. If there are no other parts, only the robot itself is not a robot.
End effector: A component attached to the last joint of a robot. It is typically used to grab objects, connect with other mechanisms, and perform the required tasks. End-effectors are generally not designed or sold in robot manufacturing, and in most cases they only provide a simple gripper. The end effector is mounted on the robot to perform tasks in a given environment, such as welding, painting, gluing, and part handling, which are a few tasks that may require a robot to perform. Typically, the action of the end effector is directly controlled by the robot controller or the signal from the robot controller is passed to the end effector's own control device (such as a PLC).
What are the main components of industrial robots?
Drive: The drive is the "muscle" of the robot. Common drives include servo motors, stepper motors, cylinders and hydraulic cylinders, as well as new drives for specific applications, which are discussed in Chapter 6. The drive is controlled by the controller.
Sensor: A sensor used to collect information about the internal state of the robot or to communicate with the external environment. The robot controller needs to know the position of each link to know the overall configuration of the robot. People know where their arms and legs are, even in complete darkness, because the neural sensors in the central nervous system in the tendons feed back information to the human brain. The brain uses this information to determine the extent of muscle contraction and to determine the state of the arms and legs. For robots, sensors integrated in the robot send information about each joint and link to the controller, so the controller can determine the configuration of the robot. Robots are often equipped with many external sensors, such as vision systems, tactile sensors, speech synthesizers, etc., to enable the robot to communicate with the outside world.
Controller: The robot controller takes data from the computer, controls the action of the drive, and coordinates the motion of the robot with the sensor feedback information. If the robot is to take a part out of the bin, its first joint angle must be 35°. If the first joint has not reached this angle, the controller will send a signal to the drive (delivering current to the motor) so that The actuator moves and then measures the change in joint angle through a feedback sensor (potentiometer or encoder, etc.) on the joint, and stops transmitting the control signal when the joint reaches a predetermined angle. For more complex robots, the speed and force of the robot are also controlled by the controller. The robot controller is very similar to the human cerebellum. Although the function of the cerebellum is not as powerful as the human brain, it controls the movement of the human.
Processor: The processor is the brain of the robot, used to calculate the motion of the robot joints, determine how much and how far each joint should move to reach the predetermined speed and position, and supervise the controller to coordinate the action with the sensor. The processor is usually a computer (dedicated). It also needs to have an operating system, programs, and external devices like monitors.
Software: There are roughly three pieces of software for the robot. The first block is the operating system that is used to operate the computer. The second piece is the robot software, which calculates the motion of each joint based on the equation of motion of the robot and then transmits this information to the controller. This software has many levels, ranging from machine language to high-level languages ​​used by modern robots. The third block is a collection of routines and applications that were developed for use with robotic external devices (such as visual generics) or developed to perform specific tasks.
The maximum distance a robot can reach in its working area. The person can reach many points in his working area in any position (these points are called smart points). However, for other limit lines that are close to the range of motion of the robot, the pose cannot be arbitrarily specified (these points are called non-dexterous points). Description: The range of motion is a function of the length of the robot joint and its configuration.
Accuracy: Accuracy is the accuracy with which the robot reaches a specified point. It is related to the resolution of the drive and the feedback device. Most industrial robots have an accuracy of 0.001 inches or more.
Repeatability: Repeatability is the degree to which the robot reaches the same position if the action is repeated multiple times. Example: Assume that the driving robot reaches the same point 100 times. Since many factors will affect the positional accuracy of the robot, the robot cannot accurately reach the same point every time, but it should be within a circular area centered on the point. The radius of the circle is formed by a series of repeated actions, which is the repeatability. Note: Repeatability is more important than accuracy. If a robot is not positioned accurately, it usually shows a fixed error. This error is predictable and can be corrected by programming. Example: Assuming that a robot always deviates from the right by 0.01 mm, it can be specified that all position points are offset to the left by 0.01 mm, thus eliminating the deviation. Note: If the error is random, then it cannot be predicted and therefore cannot be eliminated. The weight-loss accuracy defines the range of such random errors, which are usually determined by repeatedly running the robot a certain number of times.
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