The industrial manipulator is mainly composed of four parts: the actuator, the drive mechanism, the control system and the base.
1. Executive agency
The implementing agency includes the following parts:
(1) The gripper is a component that directly grabs (clamps or loosens) the workpiece (or tool). Commonly used are jaw type, suction cup type and universal type.
(2) The wrist is a component that connects the claw and the arm, supporting the claw and expanding the range of motion of the arm. It can realize slewing and swinging motions. Sometimes, a manipulator without wrist action can also be used.
(3) Arm It is a component that supports the wrist and claws. Generally, it can realize telescopic, lifting and swinging movements.
(4) Column It is a device that supports arms and other components. It is generally fixed and can be moved laterally due to work needs. It is often called a movable column.
(5) The walking mechanism is a device that the manipulator can complete remote operation, which is composed of rollers and guide rails or a multi-bar mechanism.
2. Drive mechanism
The driving mechanism is a power device that drives components such as arms, wrists, and claws, usually in three forms: pneumatic, hydraulic, and electric.
3. Control System
The control system is a device that controls the movement of the manipulator in accordance with the prescribed program. It must have the function of saving or remembering command information (such as action sequence, arrival position and time information). It can measure and process information in time, issue control instructions to the actuator of the manipulator, and issue fault alarms when necessary.
4. Machine base
The base is the basic component for installing the manipulator actuator, drive mechanism, etc.