Robot experts around you：10 common knowledge you have to know about industrial robots, I suggest collecting them!

What is an industrial robot? What is it made of? How does it move? How to control it? What role can it play?

Perhaps there are some doubts about the industrial robot industry, and these 10 knowledge points can help you quickly establish a basic understanding of industrial robots.

A robot is a machine that has many degrees of freedom in three-dimensional space and can achieve many anthropomorphic actions and functions, while industrial robots are robots applied in industrial production. Its characteristics are: programmability, personification, universality, and mechatronics integration.

2. What are the system components of industrial robots? What are their respective roles?
Drive system: A transmission device that enables a robot to operate. Mechanical structure system: A multi degree of freedom mechanical system composed of three major components: the body, arms, and robotic arm end tools. Sensing system: composed of internal sensor modules and external sensor modules to obtain information on internal and external environmental conditions. Robot environment interaction system: A system that enables the interconnection and coordination between industrial robots and devices in the external environment. Human machine interaction system: It is a device where operators participate in robot control and communicate with the robot. Control system: Based on the robot's work instruction program and the signals feedback from sensors, the robot's executing mechanism is controlled to complete the specified movements and functions.

3. What does robot degree of freedom mean?
Degrees of freedom refer to the number of independent coordinate axis movements possessed by a robot, and should not include the opening and closing degrees of freedom of the gripper (end tool). Describing the position and posture of an object in three-dimensional space requires six degrees of freedom, position operations require three degrees of freedom (waist, shoulder, elbow), and posture operations require three degrees of freedom (pitch, yaw, roll).
The degrees of freedom of industrial robots are designed based on their purpose, which may be less than 6 degrees of freedom or greater than 6 degrees of freedom.

4. What are the main parameters involved in industrial robots?
Degree of freedom, repetitive positioning accuracy, working range, maximum working speed, and load-bearing capacity.

5. What are the functions of the fuselage and arms? What issues should be noted?
The fuselage is a component that supports the arms and generally achieves movements such as lifting, rotating, and pitching. When designing the fuselage, it should have sufficient stiffness and stability; The movement should be flexible, and the length of the guide sleeve for lifting and lowering should not be too short to avoid jamming. Generally, a guide device should be installed; The structural arrangement should be reasonable. The arm is a component that supports the static and dynamic loads of the wrist and the workpiece, especially during high-speed motion, which will generate significant inertial forces, cause impacts, and affect the accuracy of positioning.
When designing the arm, attention should be paid to high stiffness requirements, good guidance, light weight, smooth movement, and high positioning accuracy. Other transmission systems should be as brief as possible to improve transmission accuracy and efficiency; The layout of each component should be reasonable, and the operation and maintenance should be convenient; Special considerations should be given to the impact of thermal radiation in high-temperature environments. In corrosive environments, corrosion prevention should be considered. Explosion prevention should be considered in hazardous environments.

6. What is the main function of the degree of freedom on the wrist?
The degree of freedom on the wrist is mainly to achieve the desired posture of the hand. In order to ensure that the hand can be in any direction of space, it is required that the wrist can rotate the three spatial coordinate axes X, Y, and Z. It has three degrees of freedom: flipping, pitching, and deflecting.

7. The Function and Characteristics of Robot End Tools
The robot hand is a component used to hold workpieces or tools, and is an independent component that can have claws or be a specialized tool.

8. What are the types of end tools based on the clamping principle? What specific forms are included?
According to the clamping principle, end clamping hands are divided into two types: clamping types include internal support type, external clamping type, translational external clamping type, hook type, and spring type; The adsorption type includes magnetic suction and air suction.

9. What are the differences between hydraulic and pneumatic transmission in terms of operating force, transmission performance, and control performance?
Operating force. Hydraulic pressure can generate significant linear motion and rotational force, with a gripping weight of 1000 to 8000N; The air pressure can obtain smaller linear motion force and rotational force, and the gripping weight is less than 300N.
Transmission performance. The hydraulic Compressibility small transmission is stable, without impact, basically without transmission lag, reflecting a sensitive movement speed of up to 2m/s; Pressure compressed air has small viscosity, low pipeline loss, high flow rate, and can reach higher speeds, but at high speeds, the stability is poor, and the impact is more severe. Typically, the cylinder is 50 to 500mm/s.
Control performance. Hydraulic pressure and flow rate are easy to control and can be adjusted through stepless speed regulation; Low speed air pressure is difficult to control, difficult to accurately locate, and generally does not require servo control.

10. What are the differences in performance between servo motors and stepper motors?
The control accuracy is different (the control accuracy of the servo motor is guaranteed by the rotary encoder at the rear end of the motor shaft, and the control accuracy of the servo motor is higher than that of the stepper motor); Different low-frequency characteristics (servo motors operate very smoothly and do not vibrate even at low speeds. Generally, servo motors have better low-frequency performance than stepper motors); Different overload capabilities (stepper motors do not have overload capabilities, while servo motors have strong overload capabilities); Different operating performance (open loop control for stepper motors and closed-loop control for AC servo drive systems); Different speed response performance (AC servo system has better acceleration performance).