I. definition and classification of robots:
The robot to ISO 8373 is defined as: the position can be fixed or mobile, can realize automatic control, can repeat programming, multi use, end position of the manipulator in industrial automation equipment in 3 or more than 3 degrees of freedom in programming. Here, freedom is the axis of motion or rotation. Industrial robots are classified into joint type robots, mobile robots, underwater robots and Cartesian coordinates robots in terms of their structure and programming coordinate system. According to the main functions, features and applications, they are divided into mobile robots, underwater robots, clean robots, Cartesian coordinates robots, welding robots, surgical robots and military robots. Robotics involves the structure of the robot, robot vision, robot motion planning, robot sensor, robot communication and artificial intelligence and so on, different uses of robots involves different disciplines, here only to the robot structure and application are introduced simply:
Two articulated robot
The structure of articulated robots consists of several rotating shafts, oscillating shafts and grippers, which are composed of 6~7 degrees of freedom.
The rotating shaft and oscillating shaft of articulated robot are mainly driven by servo motor, which is equipped with almost no backlash precision reducer or direct drive torque motor, and its control system is also very difficult. The joint robot of each manufacturer has the same structure, the main difference is in the technical parameters.
Three special robots
The mobile robot is autonomous mobile stairs or the upper and lower electric vehicles, mainly for the production of goods and transportation and field independent operations, or into pollution and radiation environmental sampling and monitoring. Some mobile robots are walking robots that mimic some animals, walk with legs and claws, such as American military dogs, and are still in the application stage. Underwater robots and submarines can autonomously dive under water to complete the recording and monitoring of underwater structures, underwater gates and salvage of submarine platforms. The clean robot is mainly joint robot wearing protective clothing, make its own a good seal, no dust into the work site itself does not produce dust, they are mainly used in electronics, food and drug production. There is a clear definition of cleanliness of robots in the world. Military robot is mainly a small mobile car, remote control aircraft or electronic dog, some homework, they complete the dangerous places such as mine, mine, on-site monitoring, fire destroy specific targets. Although the service robot is mainly toy type autonomous electric vehicle, with vision and ultrasonic devices on it so that it can be in the home without collision move to different positions through the camera, used to guard against theft, gas leak detection, wireless transmitting and receiving command information, transportation etc.. But the future of service robots will continue to strengthen, and continue to deep into all aspects of people's daily life. There are also surgical robots, space robots, milk robots and special robots for nuclear power plants.
Four Cartesian coordinate robot
As a Cartesian coordinate robot most widely used in all walks of life, it is mainly based on linear motion axis, each moving axis usually corresponds to the X axis in Cartesian coordinates, Y axis and Z axis, X axis and Y axis is the axis of motion in the horizontal plane, the Z axis is on the axis of motion. In some applications, the Z axis is provided with a rotating shaft, or with a oscillating shaft and a rotating shaft. In most cases, the angle between the axes of the rectilinear motion robot is right angle.
Five applications and exhibitions
Each robot has its own specialty and advantages, applicable to specific industries or operations. There are also joint robots installed on large linear motion platforms to expand the work area and accomplish more tasks.
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