Industrial robots are multi-connected manipulators or multi-free robots used in the industrial field. A significant future development in manufacturing is the replacement of entire production processes by industrial robots, which forms the foundation for intelligent manufacturing and will ensure the future realization of industrial automation, digitalization, and intelligence. Poor production and processing environments, an aging population leading to labor shortages and high labor training costs, have increased the demand for industrial robots. What are the basic components and classifications of industrial robots?
Composed of basic industrial robots
An industrial robot consists of three parts: the main body, the drive system, and the control system.
Main body: seat and driver, including hands, wrists, and other components, as well as some robotic and locomotion mechanisms. The wrist portion, also known as the terminal external tool interface, can be used to mount grippers, tools, sensors, etc.
Drive system: includes the power supply and transmission mechanism that enable the driver to perform such operations.
Control system: Sends control signals to the drive system, drives the robot according to the input program, and drives the industrial robot as needed.
Industrial robot classification
Classification based on the general harmonization table
A rectangular coordinate robot (PPRectangular Coordinate Robot), also known as a single-axis manipulator, involves changing the spatial position of a terminator to achieve vertical movement along the x, y, and z axes.
Cylindrical coordinate robot (RPP)
The spatial position of the robot's end effector is changed by two translation coordinates and one rotation coordinate.
Sphere Coordinate Robot (RRP)
The motion of a robot hand, also known as polar coordinates, consists of linear motion and two rotations: stretching along the x-axis, rotating along the y-axis, and rotating along the z-axis.
Connected Robots (RRR)
Also known as articulated robots or articulated manipulators, they are used in many industrial fields, such as automated assembly, painting, material handling, and welding. They are divided into vertical connector robots and planar (horizontal) connector robots.
In addition, robots can be classified according to their performance characteristics, such as handling robots, stacking robots, welding robots, painting robots, laser cutting robots, etc.
Classification by number of robot axes
Six traditional members
A six-axis robot has six continuous rotary links. Traditional six-link robots can be divided into ordinary six-link robots and special six-link robots.
7-axis robot
It is also known as a redundant robot. Compared to a six-axis robot, the extra axis allows the robot to avoid specific targets, facilitate the activation of the terminal at a specific location, and adapt more flexibly to specific working environments.
Collaborative robots
Collaborative robots, often shortened to cobot or co-robot, are robots that can safely communicate/connect directly with humans. They combine the precision and repeatability of robotics with the unique skills and abilities of humans. Humans excel at handling inaccuracies and uncertainties, while robots offer advantages in precision, strength, and durability.
Four-axis/SCARA robot
A four-axis robot means that the robot's arm can move freely in the geometric plane. The "connector manipulator" is optional, which is the traction degree of freedom in the X, Y, and Z directions and the rotational degree of freedom in the Z direction.
Delta Parallel Robot
Delta robots are fast, lightweight parallel robots that typically learn to hit targets through programming or vision. The center of the handle is defined by three parallel edge axes (TCPs), which enable the transfer and handling of the target object.
Classification by control system
Categorization based on whether there is feedback
Divided into open-circuit control and closed-circuit control
Classification by expected control level
It is divided into force control, position control, and hybrid control.
Force control is divided into direct force control, impedance control, and mixed force level control.
Position control is divided into: controlling one connected position (position feedback, position-velocity feedback, position-velocity-acceleration feedback) and controlling multiple connected positions.
Through intelligent management
It is divided into fog control, adaptive control, optimal control, neural network control, fog network control, and expert control.
