In order to solve a series of problems caused by writing applications in machine language, people first thought of using mnemonics to replace machine instructions that are not easy to remember. This language that uses mnemonics to represent computer instructions is called symbolic language, also known as assembly language. In assembly language, each assembly instruction represented by symbols corresponds to a computer machine instruction one by one; the difficulty of memory is greatly reduced, not only is it easy to check and modify program errors, but the storage location of instructions and data can be automatically allocated by the computer. Programs written in assembly language are called source programs. Computers cannot directly recognize and process source programs. They must be translated into machine language that computers can understand and execute by some method. The program that performs this translation work is called an assembler. When using assembly language to write computer programs, programmers still need to be very familiar with the hardware structure of the computer system, so from the perspective of program design itself, it is still inefficient and cumbersome. However, it is precisely because assembly language is closely related to computer hardware systems that in certain specific occasions, such as system core programs and real-time control programs that require high time and space efficiency, assembly language is still a very effective programming tool to date.
There is currently no unified classification standard for industrial robotic arms. Different classifications can be made according to different requirements.
1. Classification by driving mode 1. Hydraulic type The hydraulic driven mechanical arm usually consists of a hydraulic motor (various oil cylinders, oil motors), servo valves, oil pumps, oil tanks, etc. to form a driving system, and the actuator driving the mechanical arm works. It usually has a large grabbing capacity (up to hundreds of kilograms), and its characteristics are compact structure, smooth movement, impact resistance, vibration resistance, and good explosion-proof performance, but the hydraulic components require high manufacturing precision and sealing performance, otherwise oil leakage will pollute the environment.
2. Pneumatic type Its driving system is usually composed of cylinders, air valves, gas tanks and air compressors. Its characteristics are 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 grabbing capacity is low.
3. Electric type Electric drive is currently the most used driving method for mechanical arms. Its characteristics are convenient power supply, fast response, large driving force (the weight of the joint type has reached 400 kilograms), convenient signal detection, transmission and processing, and a variety of flexible control schemes can be adopted. The driving motor generally adopts stepper motor, DC servo motor and AC servo motor (AC servo motor is the main driving form at present). Due to the high speed of the motor, a reduction mechanism (such as harmonic drive, RV cycloid pinwheel drive, gear drive, spiral action and multi-rod mechanism, etc.) is usually used. At present, some robotic arms have begun to use high-torque, low-speed motors without reduction mechanisms for direct drive (DD), which can simplify the mechanism and improve the control accuracy.
Post time: Sep-24-2024
