工业机器人基础知识（Basic knowledge of industrial robots）.docVIP

工业机器人基础知识（Basic knowledge of industrial robots） Five forms of robots: Cartesian coordinates, cylindrical coordinates, spherical coordinates, joint coordinates, and SCARA The robot system consists of a mechanical system, a drive system, a control system, and a perception system The degree of freedom of the robot is generally between 3-6, and the rigid body freedom is 3 translational motion and 3 rotation. It can be decomposed into translational motion and rotation around a straight line through the center of mass, and the independent coordinates required for the motion of the object are described. The more degrees of freedom, the more complex and flexible the system is, the more difficult it is to control The number of degrees of freedom is related to the use and production requirements. It has large batch production, high reliability, fast operation, complex environment, light load and low degree of freedom. It is easy to change, increase flexibility and multi degree of freedom. Positioning accuracy and repeatability: two accuracy indexes. The former is the deviation between the actual position of the end operation and the target position, the mechanical error, the control algorithm error and the system resolution influence. The latter, under the same environment, condition, target action and command, repeats motion several times, and the distribution of the position is statistical data, which is an important index to evaluate the teaching playback robot. Basic parameters: number of freedom, range of operation, carrying capacity, speed of movement and positioning accuracy Drive mode: hydraulic drive, pneumatic drive, electrical drive Hydraulic advantages: 1, with large thrust or torque 2, stable operation, accurate position, speed and direction of force 3, easy to realize the automatic control of the 4, long service life, disadvantages: 1, the temperature of high risk, high cost 2 easy to leak 3, oil pressure is strict; advantages: 1, easy to reach high speed 2, env