Introduction to Robot

Manipulator

An automatic operating device that can imitate certain motion functions of human hands and arms to grasp, transport objects or operate tools according to a fixed program. Manipulators are the earliest industrial robots and the earliest modern robots. They can replace human labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, they are widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy.

Chinese name manipulator, foreign name machine hand, type industrial robot, which replaces human labor

Driving method Hydraulic, pneumatic, electric, mechanical composition actuator, drive mechanism and control system

Introduction

In today's life, with the rapid advancement of science and technology, the difference between a robotic arm and a human arm lies in its flexibility and endurance. That is to say, the advantage of the manipulator can repeat the same action and never feel tired under normal mechanical conditions! The application of manipulators will become more and more extensive. Manipulators are a kind of high-tech automatic production equipment developed in recent decades. An important branch of industrial manipulator robots.

Types, according to the driving mode can be divided into hydraulic, pneumatic, electric, mechanical. The feature is that it can be programmed to complete various expected tasks, and its structure and performance have both the advantages of manned and mechanical handpieces.

Constitute

The manipulator is mainly composed of three parts: the actuator, the drive mechanism and the control system. The hand is a part used to grasp the workpiece (or tool). According to the shape, size, weight, material and operation requirements of the object to be grasped, it has a variety of structural forms, such as clamping type, holding type and adsorption type, etc. . The movement mechanism enables the hand to complete various rotation (swing), movement or compound movements to achieve the specified actions and change the position and posture of the object being grasped. The independent movement methods such as lifting, telescoping, and rotating of the movement mechanism are called the degrees of freedom of the manipulator. In order to grab an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter of the robot design. The more degrees of freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure. Generally, the dedicated manipulator has 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the manipulator. At the same time, it receives feedback from the sensor to form a stable closed-loop control. The core of the control system is usually made up of micro-control chips such as single-chip microcomputer or dsp, and the required functions are realized through programming.

Executive structure

The actuator of the manipulator is divided into hands, arms, and torso;

1. Hand The hand is installed on the front end of the arm. The inner hole of the arm is equipped with a transmission shaft, which can transmit the application to the wrist to rotate, stretch the wrist, and open and close the fingers. The structure of the manipulator hand imitates a human finger, and is divided into three types: no joints, fixed joints and free joints. The number of fingers can be divided into two fingers, three fingers, and four fingers, among which two fingers are the most used. According to the shape and size of the clamping object, it can be equipped with various shapes and sizes of chucks to meet the needs of the operation. The so-called hands without fingers generally refer to vacuum suction cups or magnetic suction cups.

2. Arm The function of the arm is to guide the hand to grasp the workpiece and transport it to the desired position. In order for the manipulator to work correctly, the 3 degrees of freedom of the arm must be positioned.

3. Torso The torso is a bracket for installing arms, power sources and various actuators.