As a system manipulator, it is generally composed of three parts and six sub-systems. These three parts are the mechanical part, the sensor part, and the control part. Now let's first understand the mechanical part of the three major components of the manipulator, including the drive system and the mechanical system.
1. The mechanical part drive system of the three major components of the manipulator
The drive system mainly refers to the drive equipment that drives the mechanical system. According to the different driving sources, the driving system can be divided into three types: electric, hydraulic, and pneumatic, as well as a generalized system that combines them. The drive system can be directly connected to the mechanical system, or indirectly connected to the mechanical system through timing belts, chains, gears, harmonic drive equipment, etc.
2. The mechanical system of the three major components of the manipulator
The mechanical system is also called the manipulator or the executive organization system, which is composed of a series of linkages, joints or other ways of movement. The mechanical system generally includes a base, a column, a waist joint, an arm joint, a wrist joint, and a claw, etc., forming a multi-degree-of-freedom mechanical system. The mechanical structure system of an industrial robot is composed of three parts: the body, the arm, and the end effector. Each large piece has several degrees of freedom, forming a multi-degree-of-freedom mechanical system. If the body has a walking organization, it constitutes a walking robot; if the body does not have a walking and waist rotation organization, it constitutes a single robot arm. The arm is generally composed of upper arm, lower arm and wrist. The end effector is an important component directly mounted on the wrist. It can be a two-finger or multi-finger claw, or a spray gun, welding torch and other working tools.