What Are The Components Of A Robot System?

Robot system is composed of robot, operating object and environment, including mechanical system, drive system, control system and perception system.

Mechanical systems

The mechanical system of industrial robot includes fuselage, arm, wrist, end manipulator and walking mechanism, and each part has several degrees of freedom, thus constituting a mechanical system with multiple degrees of freedom.

In addition, some robots also have walking mechanism.

If the robot has a walking mechanism, it constitutes a walking robot;

If the robot is not equipped with walking and waist rotation mechanism, a single robot arm is constituted.

The end manipulator is an important part installed directly on the wrist. It can be a two-finger or multi-finger claw, or it can be a spray gun, welding gun and other work tools.

The mechanical systems of industrial robots act as the equivalent of the human body (e.g. bone marrow, hands, arms and legs).

Drive system

Drive system mainly refers to the drive device that drives the action of mechanical system.

According to the different driving source, the driving system can be divided into three kinds of electrical, hydraulic and pneumatic and their combined application of the comprehensive system.

This part acts like a human muscle.

Electric drive system is widely used in industrial robots, which can be divided into three driving forms: stepper motor, DC servo motor and AC servo motor.

In the early stage, stepper motor was used to drive, and then DC servo motor was developed, and AC servo motor drive was gradually applied.

Some of the above drive units are used to drive the mechanism directly, and some drive the mechanism through the harmonic reducer deceleration, the structure is simple and compact.

Hydraulic drive system has stable movement and large load capacity, so it is reasonable to use hydraulic drive for heavy load handling and parts processing robots.

However, hydraulic drive has some disadvantages such as complicated pipeline and difficult cleaning, so its application in assembly operation is limited.

Whether electrically or hydraulically driven, the opening and closing of the claws of the robot adopts pneumatic form.

The pneumatic driven robot is simple in structure, quick in action and low in price, but its working speed is not stable due to the compressibility of air.

However, the compressibility of air can improve the compliance of the claw when grabbing or clamping objects, and prevent excessive force from causing damage to the object or claw itself.

The pressure of the air pressure system is generally 0.7mpa, so the grasping force is small, only dozens of cows to hundreds of cows.

Control system

The task of the control system is to control the robot's actuator according to the robot's operation instruction program and the signal feedback from the sensor, so that it can complete the specified movement and function.

If the robot has no information feedback characteristic, the control system is called open loop control system.

If the robot has the characteristic of information feedback, the control system is called closed-loop control system.

This part mainly consists of computer hardware and control software.

The software is mainly composed of human-computer interaction system and control algorithm.

This part acts like the human brain.

Perception system

The sensing system is composed of internal sensors and external sensors, and its function is to obtain the internal and external environment information of the robot, and feedback these information to the control system.

The internal state sensor is used to detect the position, speed and other variables of each joint and provide feedback information for the closed-loop servo control system.

The external state sensor is used to detect some state variables between the robot and the surrounding environment, such as distance, proximity and contact, and is used to guide the robot so that it can recognize objects and make corresponding processing.

External sensors can make the robot respond to its environment in a flexible way, endowing the robot with certain intelligence.

The function of this part is equivalent to the human five senses.

Robot is a kind of automatic machine, which has some intelligent abilities similar to people or creatures, such as perception ability, planning ability, action ability and coordination ability. It is a highly flexible automatic machine.