Mechanical Structure System hmanga siam chhuah a ni
Mechanical structure lam atanga thlir chuan industrial robot te hi a tlangpuiin serial robot leh parallel robot ah then an ni. Serial robot ziarang pakhat chu axis pakhat kalna hian axis dang coordinate system lo chhuahna a tidanglam a, parallel robot-a axis pakhat kalna chuan axis dang coordinate system lo chhuahna a tidanglam lo thung. Industrial robot hmasa berte chuan serial mechanism an hmang vek a. Parallel mechanism tih hi closed-loop mechanism tihna a ni a, chutah chuan moving platform leh fixed platform chu independent kinematic chain pahnih tal hmanga inzawmkhawm a ni a, mechanism hian zalenna℃pahnih emaw a aia tam emaw a nei a, parallel-a khalh a ni. Parallel mechanism hian thil pahnih a nei a, chungte chu kutphah leh kut (arm) te an ni. Arm’s range of motion hian hnathawhna hmunah nghawng lian tak a nei a, wrist erawh chu hmanrua leh main body inzawmna a ni thung. Serial robot nena khaikhin chuan parallel robot hian thatna a nei a, chu chu stiffness sang zawk, structural stability sang zawk, load-bearing capacity sang zawk, micro-motion accuracy sang zawk, leh motion load hniam zawk te hi a ni. Position determination-ah chuan serial robot tan forward solution hi a awlsam a, mahse inverse solution erawh a harsa hle a; a lehlamah chuan parallel robot tan chuan forward solution chu a harsa a, mahse inverse solution erawh a awlsam hle thung.
Drive System a ni
Drive system hi mechanical structure system-a power pe theitu hmanrua a ni. Power source a zirin drive system hi chi li-ah then a ni a, chungte chu hydraulic, pneumatic, electric leh mechanical te an ni. Industrial robot hmasa berte chuan hydraulic drive an hmang thin. Mahse, leakage, noise, leh low-speed instability ang chi harsatna avang te, power unit lian leh man to tak tak te avang hian tunah hian hydraulic drive hi robot lian, heavy-duty, parallel processing robot, leh special application thenkhatah chauh hman a ni. Pneumatic drive hian a thatna a pe a, chu chu speed sang, system structure awlsam, enkawl awlsam, leh man tlawm te a ni. Mahse, pneumatic device te hi pressure hniam takah an thawk a, chu chuan positioning dik tak siam a ti harsa a, a tlangpuiin industrial robot-a end effector khalh nan chauh hman a ni. Pneumatic gripper, rotary cylinder, leh pneumatic suction cup te hi medium to small load workpiece gripping leh assembly atan end effector atan hman theih a ni. Tunah hian electric drive hi drive method hman lar ber a ni. An ziarang chu power supply awlsam tak, fast response, driving force lian tak, signal detection, transmission, leh processing awlsam tak, leh flexible control method hrang hrang hman theihna te a ni. Drive motor hian stepper motor emaw servo motor emaw an hmang tlangpui a; direct drive motor pawh hman a ni a, mahse hengte hi a man a to zawk a, control pawh complex zawk a nei bawk. Motor nena inmil reducer te hi a tlangpuiin harmonic reducer, cycloidal pinwheel reducer, planetary gear reducer te an ni. Parallel robot-a linear drive mamawhna nasa tak a awm avangin he kawngah hian linear motor hi hman a ni nasa hle.
Sensing System a ni
Robot sensing system hian signal atanga internal state leh environmental information hrang hrang chu data leh information ah a chantir a, chu chu robot ngei emaw robot dang emaw pawhin an hriatthiam theih leh an hman theih tur a ni. A hnathawhna dinhmun nena inzawm mechanical quantities, displacement, velocity, leh force te hriatna bakah hian visual perception technology hi industrial robot sensing-a thil pawimawh tak a ni. Visual servo system hian visual information chu feedback signal atan hmangin robot awmna leh a dinhmun control leh siamrem a ni. Machine vision system hi quality inspection, workpiece identification, food sorting, leh packaging-ah te pawh hman a ni nasa hle. Sensing system hi internal leh external sensor module atanga siam a ni a; sensor fing tak tak hman hian robot chu a kal theihna, a insiamrem theihna leh a finna a tipung a ni.
