Introduction to the driving mode of the robot arm
Manipulator is a kind of automatic mechanical equipment.Its main function is to manipulate tools and workpieces,replacing manual operation.At first,mechanical arms were used to operate radioactive or biological hazardous substances that are difficult to handle manually,but now they are used in many industries to complete such tasks as carrying heavy objects,welding and spraying.Mechanical arms are automatic mechanical equipment,whose main role is to manipulate tools and workpieces,replacing manual operations.At first,mechanical arms were used to operate radioactive or biological dangerous substances that are difficult to handle manually,but now they are used in many industries to complete various tasks such as carrying heavy objects,welding,painting and assembly.Manipulators can manipulate materials,workpieces,tools or other special equipment according to the predetermined motion track to complete various manufacturing operations.
Several driving modes of the robot arm:
1、Hydraulic
The hydraulic driven manipulator usually consists of a driving system consisting of hydraulic motor(various oil cylinders,oil motors),servo valve,oil pump,oil tank,etc.,and is operated by the actuating mechanism of the driving manipulator.Generally,it has a large lifting capacity(up to hundreds of kilograms),which is characterized by compact structure,stable action,impact resistance,vibration resistance and good explosion-proof performance.However,the hydraulic components require high manufacturing accuracy and sealing performance,otherwise oil leakage will pollute the environment.
2、Pneumatic
Its drive system is usually composed of cylinders,air valves,air tanks and air compressors.It is characterized by convenient air source,rapid action,simple structure,low cost and convenient maintenance.However,it is difficult to control the speed,and the air pressure cannot be too high,so the snatching capacity is low.
3、Electric
Electric drive is one of the most widely used driving methods for robotic arms.It is characterized by convenient power supply,fast response,large driving force(the weight of joint type has reached 400 kg),convenient signal detection,transmission and processing,and a variety of flexible control schemes can be adopted.The driving motor generally adopts stepping motor,DC servo motor and AC servo motor(among which AC servo motor is the main driving form at present).Because of the high speed of the motor,the reduction mechanism(such as harmonic drive,RV cycloidal pin wheel drive,gear drive,screw action and multi bar mechanism)is usually used.At present,some manipulators have begun to use high torque,low speed motors without speed reduction mechanism for direct drive(DD),which can simplify the mechanism and improve the control accuracy.
