Introduction to industrial robots
Robot classification
1. Joint robot (commonly used)
2. Cartesian coordinate robot, Cartesian coordinate robot, gantry robot (commonly used)
3. Polar coordinate robot, spherical coordinate system robot
4. Swinging robot
5. SCARA four-axis robot
6. Delta parallel robot
7. Cylindrical coordinate robot
Robot system composition
1. Mechanical body (actual movement unit)
2. Control cabinet (robot control unit, including main control system and drive unit, etc.)
3. Teaching pendant (used for operating robot operation and programming)
Robot body
1. Actuator, each joint motor has a brake
2. Body components: base, waist, shoulder, upper arm, elbow, forearm, wrist (for six-axis robot)
PS: Tools can be installed on the wrist flange to perform different tasks
Robot control cabinet
1. Including controller, servo driver, IO module, etc.
2. Mainly responsible for the robot’s movement position, posture and trajectory in space, operation sequence and external communication, etc.
Robot teaching pendant
1. Used for human-computer interaction, programming and debugging, viewing system status and setting system parameters, etc.
2. Advantages of teaching pendant programming: simple operation, fast teaching reproduction, application immediately after teaching, and monitoring at any time
Robot Tools
Common tool categories:
1. Transportation
2. Processing
3. Measurement category
Robot external sensors
1. Tactile sensor
2. Vision sensor
3. Hearing sensor
4. Proximity sensor
5. Ultrasonic sensor
Important parameters of the robot system
Robot accuracy depends on mechanical accuracy and electrical accuracy
1. Absolute positioning accuracy (the deviation between the actual position reached by the robot's end tool and the target position)
2. Repeatable positioning accuracy (how consistent the robot’s end tool reaches a certain target position)
1. World coordinate system (a coordinate system based on a certain position in space)
2. Base coordinate system (coordinate system based on the center of the robot base)
3. User coordinate system (Rectangular coordinate system based on the plane where the workpiece is processed)
4. Tool coordinate system (the tool coordinate system is based on the TCP point of the tool, and sets the effective direction of the tool as the Z axis. The direction of the tool coordinates follows the movement of the wrist movement robot in the tool coordinate system. The intersection direction of the tool is used as the reference, and it has nothing to do with the robot's vertical position and attitude. It is suitable for parallel motion without changing the tool attitude relative to the workpiece.)
Robot pose (Pose in six-axis and four-axis Halcon), indicating the position of the center of the robot's end flange in the robot's base coordinate system, calculated by the robot's joint angle conversion inferred.
DH parameters (mainly composed of rod length, zero offset, joint axis, coordinate orientation, and robot type)
Left- and right-handed coordinate systems (most articulated robots are right-handed coordinate systems)
singularity
During the operation of the machine, there are still several special standing postures that the robot can reach with countless different joint configurations. These standing postures are called singular points. Singular points will cause problems when the controller calculates joint angles based on spatial positions. Fixed inverse solutions cannot be obtained during motion, or some joint angular velocities tend to be infinite. There are three kinds of odd points in the robot, namely the odd points of the wrist, the odd points of the elbow and the odd points of the shoulder.
How robots communicate
1. IO communication
2. Network communication
3. Bus communication
4. Serial communication
Basic working principles of robots
There are three kinds of odd points in the human body, namely the odd points on the wrists, the odd points on the elbows and the odd points on the shoulders.
How robots communicate
1. IO communication
2. Network communication
3. Bus communication
4. Serial communication
Basic working principles of robots
The working principle is teaching and reproduction, which is also called guidance and teaching. It means that the manual guidance robot actually performs the action process step by step. During the guidance process, the robot automatically memorizes the posture and position of each taught action. Si, process parameters, motion parameters, etc., and automatically generate a continuously executed program. After completing the teaching, just give the robot a start command, and the robot will automatically follow the taught actions and complete the entire process.