The Composition And Function Of The Manipulator

The types of manipulators can be divided into hydraulic, pneumatic, electric, and mechanical manipulators according to the driving mode; they can be divided into special manipulators and general manipulators according to the scope of application; the control mode according to the movement trajectory can be divided into point control and countdown trajectory control manipulators Wait.

The manipulator is mainly composed of hands and motion mechanisms. The hand is a part used to hold a workpiece (or tool). According to the shape, size, weight, material and job rejection of the object to be grasped, it has a variety of structural forms, such as clamping type, holding type and conductive type, etc. . The movement mechanism enables the hand to complete various rotation (rotation), movement or filling movements to construct a prescribed movement and change the position and posture of the object being grasped. The independent motion modes such as loading, front end, and rotation of the motion mechanism are called the degrees of freedom of the manipulator. In order to capture an object in a given position and orientation in space, 6 degrees of freedom are necessary. The degree of freedom is a key parameter of the robot design. The more rights, the greater the flexibility of the manipulator, the wider the versatility, and the simpler its structure. Generally, the dedicated manipulator has 2 to 3 degrees of freedom.

Manipulators are usually used as optional devices for machine tools or other machines, such as containers and conveying workpieces on automatic machine tools or automatic production lines, and replacing tools in machining centers. Generally, there is no independent state-controlled device. Some operator devices must be manipulated by humans. For example, the master-slave operator used by the atomic energy department to handle dangerous goods is often called a manipulator.