The robotic arm is the most widely used automated mechanical device in the field of robotic technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although their forms are different, they all have a common feature, that is, they can accept instructions and accurately locate a certain point in three-dimensional (or two-dimensional) space to perform operations.
According to the different structural forms, the robotic arm is divided into multi-joint robotic arms, rectangular coordinate robotic arms, spherical coordinate robotic arms, polar coordinate robotic arms, cylindrical coordinate robotic arms, etc.
Structural form
Horizontal multi-joint robotic arms generally have three main degrees of freedom, Z1 rotation, Z2 rotation, and Z movement. By adding X rotation and Y rotation to the execution terminal, any coordinate point in the space can be reached.
The rectangular coordinate system robotic arm has three main degrees of freedom. It consists of X movement, Y movement, and Z movement. By adding X rotation, Y rotation, and Z rotation to the execution terminal, any coordinate point in the space can be reached.
The right picture is one of the common construction forms. For industrial applications, sometimes the robot arm does not need to have a full six degrees of freedom, but only one or several degrees of freedom. The rectangular coordinate system robot arm can be composed of single-axis robot arms. As a component, the single-axis robot arm is widely used in industry. The figure below is a single-axis robot arm. The componentization of the single-axis robot arm greatly reduces the cost of industrial design. Because professional manufacturers have good quality assurance and mass production advantages, using components is more advantageous than designing a robot arm by yourself. Common rectangular robot arm combinations include cantilever, gantry, upright, horizontal and other styles.
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