The types, uses, and user requirements of industrial robots vary.
However, the main technical parameters of industrial robots should include the following: degree of freedom, accuracy, working range, maximum working speed and carrying capacity.
Degree of freedom
The number of independent coordinate axes that the robot has does not generally include the opening and closing degrees of freedom of the gripper (or end effector).
It takes 6 degrees of freedom to represent the position and attitude of an object in three dimensions.
However, the freedom of industrial robots is designed according to their use, and may be less than 6 or more than 6 degrees of freedom.
For example, the A4020 assembly robot manufactured by Hitachi, Japan has four degrees of freedom, and can be connected to electronic components on a printed circuit board;
The PUMA562 robot has 6 degrees of freedom for arc welding of complex space surfaces.
From a kinematic point of view, a robot with excess degrees of freedom in completing a particular job is called a redundant degree of freedom robot, also known as a redundant robot.
For example, the PUMA562 robot is a redundant free robot when it performs the work of plugging components on a printed circuit board.
The use of redundant degrees of freedom increases the flexibility of the robot, avoids obstacles and improves dynamic performance.
The human arm has a total of 7 degrees of freedom, so it works very smartly. The hand can avoid obstacles and reach the destination from different directions.
Industrial robot accuracy is specified bit accuracy and repeat positioning accuracy.
The positioning accuracy refers to the difference between the actual arrival position of the robot hand and the target position, and is represented by the distance between the representative point of the positioning result repeatedly tested and the designated position.
Repeated positioning accuracy refers to the ability of the robot to repeatedly position the hand at the same target position, expressed by the degree of dispersion of the actual position value.
In practical applications, it is often expressed by 3 times the standard deviation value of repeated test results, which is a measure of the density of a column of error values.
The working range refers to the collection of all points that the robot arm ends or the center of the wrist can reach, also called the working area.
Because the shape and size of the end effector are varied.
In order to truly reflect the characteristic parameters of the robot, the general working range refers to the working area where the end effector is not installed.
The shape and size of the working range is very important.
When a robot performs a certain job, it may not be able to complete the task because there is a dead zone of the job that cannot be reached by the hand.
Maximum working speed
The maximum working speed, some manufacturers refer to the maximum stable speed of industrial robots, and some manufacturers refer to the large synthetic speed of the arm.
Usually described in the technical parameters.
The higher the speed of work, the higher the work efficiency.
However, the higher the speed of work, the more time it takes to speed up or slow down.
Carrying capacity is the maximum mass that the robot can withstand anywhere in the working range.
The carrying capacity is determined not only by the quality of the load, but also by the speed at which the robot is operating, the magnitude and direction of the acceleration.
For the sake of safety, the technical indicator of carrying capacity refers to the carrying capacity at high speed.
The carrying capacity refers not only to the load, but also to the quality of the robot’s end effector.
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