1. The composition of industrial robots
Industrial robots consist of three major parts and six subsystems. The three main parts are: the mechanical body , the sensor part and the control part. The six subsystems are: drive system, mechanical structure system, sensing system, robot-environment interaction system, human-computer interaction system and control system.
Drive system
In order for the robot to run, it is necessary to install the transmission for each joint, that is, for each degree of freedom of movement. This is the drive system. The drive system can be hydraulic, pneumatic or electric, or it can be an integrated system for combining them. It can also be driven directly or indirectly via mechanical transmissions such as timing belts, chains, trains, harmonic gears.
2. Mechanical structural system
The mechanical structure system of an industrial robot consists of three parts: the fuselage, the arm, and the end effector, as shown in Figure 1.6. Each large piece requires a number of degrees of freedom to form a multi-degree of freedom mechanical system. If the body has a running mechanism, it constitutes a walking robot; if the body does not have a walking and waist-turning mechanism, it constitutes a single robot arm. The arm is generally composed of an upper arm, a lower arm, and a wrist. The end effector is an important component that is declared to be attached to the wrist, and it can be a two-finger or a multi-finger hand.
3. Perception system
The sensing system consists of internal sensors and external sensors. The function is to obtain information about the internal and external environment of the robot and feed this information back to the control system. The internal state sensor is used to detect variables such as position and velocity of each joint to provide feedback information for the closed loop servo control system. External sensors are used to detect some state variables between the robot and the surrounding environment, such as distance, proximity and contact conditions, to guide the robot so that it can recognize the object and handle it accordingly. On the one hand, the external sensor enables the robot to obtain the surrounding environment more accurately, and on the other hand, it can also play an error correction role.
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