Industrial robot coordinate system
1. Rectangular coordinate type
(1) Advantages: This type of manipulator has a simple structure, strong intuitiveness of movement, and is easy to achieve high precision.
(2) Disadvantages: It occupies a large space and has a relatively small working range.
2. Cylindrical coordinate type
(1) Advantages: Compared with the rectangular coordinate type manipulator, the cylindrical coordinate type manipulator, in addition to maintaining the advantage of strong intuitiveness of motion, also has the characteristics of occupying less space, compact structure and large working range.
(2) Disadvantages: Due to the limitations of the lifting mechanism, it is generally not possible to lift workpieces on the ground or at a lower position.
3. Spherical coordinates
(1) Advantages: Compared with cylindrical coordinate manipulators, this manipulator has a larger working range while occupying the same space. Because it has pitch freedom, it can also extend its arm to the ground to complete the task of picking up the workpiece from the ground.
(2) Disadvantages: poor intuitiveness of movement, relatively complex structure, and the positional error of the arm end will be amplified as the arm extends.
4. Joint type
(1) Advantages: Articulated manipulators have some characteristics of the human arm. Compared with other types of manipulators, they occupy the least space, have the largest working range, and can also pick up and transport workpieces around obstacles. Therefore, they have received widespread attention in recent years.
(2) Disadvantages: The motion is less intuitive and the drive control is more complex.
The most prominent feature of industrial robots:
1. Programmable.
The further development of production automation is flexible startup. Industrial robots can be reprogrammed to meet the changing needs of their working environment, thus playing a vital role in flexible manufacturing processes that achieve balanced high efficiency in small-batch, multi-variety production, and are an important component of flexible manufacturing systems.
2. Personification.
Industrial robots have mechanical structures similar to humans, including walking, waist rotation, upper arms, forearms, wrists, and grippers, and are controlled by computers. Furthermore, intelligent industrial robots possess many human-like "biosensors," such as skin-type contact sensors, force sensors, load sensors, vision sensors, acoustic sensors, and language capabilities. These sensors enhance the industrial robot's ability to adapt to its surrounding environment.
3. Industrial machinery technology involves a wide range of disciplines.
In summary, it is a combination of mechanics and microelectronics – mechatronics technology. Third-generation intelligent robots not only possess various sensors for acquiring information about the external environment, but also have artificial intelligence capabilities such as memory, language comprehension, image recognition, and reasoning. These are all closely related to the application of microelectronics technology, especially computer technology.
