The number of joints that a robot mechanism can independently move is called the degree of freedom of motion of the robot mechanism, or simply the degree of freedom. Generally, as a technical indicator of a robot, the degree of freedom can reflect the flexibility of the robot's actions, and can be expressed by the number of linear movements, swings, or rotations of the axis.
Currently, the control method used for industrial robots is to treat each joint on the mechanical arm as a separate servo mechanism, that is, each axis corresponds to a server. Each server is controlled through a bus, and is uniformly controlled and coordinated by a controller.
Industrial robots have automatic control, reprogrammable, and multipurpose functions. The robot manipulator has three or more programmable axes. In industrial automation applications, the robot's base can be fixed or movable. It can be seen that the number of axes of industrial robots is an important technical indicator.
How many degrees of freedom do industrial robots generally have?
Most industrial robots have 3-6 degrees of freedom of motion, with the wrist typically having 1-3 degrees of freedom of motion; The driving system includes a power device and a transmission mechanism to make the actuator generate corresponding actions; The control system sends command signals to the drive system and actuator according to the input program, and controls them.
Is it better for robots to have more degrees of freedom?
In general, the more degrees of freedom a robot has, the closer it is to the motion skills of a human hand, and the better its versatility. However, the more degrees of freedom it has, the more complex its structure will become, and the higher the overall requirements for the robot, the more difficult it will be in design and manufacturing.
Although the flexibility of robots increases with the increase in the number of axes, or degrees of freedom, in current industrial applications, three axis, four axis, five axis, double arm, and six axis industrial robots are widely used, and the selection of the number of axes usually depends on the specific application. This is because in more specific industry applications, robots are often not required to have high flexibility, while three-axis and four-axis robots have higher cost effectiveness and greater advantages in speed.