Industrial robots typically consist of three main parts and six subsystems. The three main parts are the mechanical part, the sensing part, and the control part. The six subsystems can be divided into the mechanical structure system, drive system, perception system, robot-environment interaction system, human-machine interaction system, and control system.
Mechanical Structure System
From a mechanical structure perspective, industrial robots are generally divided into serial robots and parallel robots. A characteristic of serial robots is that the movement of one axis changes the coordinate origin of another axis, while the movement of one axis in a parallel robot does not change the coordinate origin of another axis.
Drive System
The drive system is responsible for providing power support to the robot's joints. It typically consists of motors, reduction gears, and transmission components. Its performance has a significant impact on the robot's speed response, motion smoothness, and positioning accuracy.
Perception System
The perception system is used to acquire information about the robot's own state and the working environment, including data such as position, speed, force, and external environmental characteristics, providing feedback to the control system. By introducing sensor information, industrial robots can maintain stable operation under complex working conditions and, to a certain extent, adjust and optimize the work process.
Robot-Environment Interaction System
A robot-environment interaction system is a system that enables robots to communicate and coordinate with equipment in their external environment. The robot and external equipment are integrated into a functional unit, such as a processing and manufacturing unit, welding unit, or assembly unit.
Human-Machine Interaction System
A human-machine interaction system is a device that allows humans to communicate with and participate in the control of the robot. Examples include standard computer terminals, command consoles, information display panels, and hazard alarms.
Control System
The task of the control system is to direct the robot's actuators to perform specified movements and functions based on the robot's work instructions and signals fed back from sensors.
