Joints, connecting rods and end effectors
The robot arm is mainly composed of joints, connecting rods and end effectors, which are connected by joints to form a complex system with multiple inputs and outputs. The mechanical structure of the robot arm is composed of a series of rigid components (connecting rods) connected by links (joints). It has an arm for ensuring mobility, a wrist for providing flexibility and an end effector for performing tasks required by the robot. The robot arm can be divided into serial robot arms and parallel robot arms, of which the serial robot arm is the main object of research. 1
The serial robot arm is connected by multiple joints in sequence, and each joint provides a certain degree of freedom. Common types include Cartesian, cylindrical and spherical types. Cartesian robot arms achieve positioning through three moving joints, have good mechanical rigidity but poor flexibility; cylindrical robot arms have stronger horizontal movement capabilities; spherical robot arms provide more complex movement capabilities, but have lower mechanical strength.
The parallel robot arm drives the end effector simultaneously through multiple motion branches, and is usually used for high-precision operations, such as surgical robots. The parallel robot arm has a complex structure and is difficult to control, but its high precision and stability give it advantages in specific fields.
In terms of drive mode, the robot arm can be driven by hydraulic, electric or pneumatic means. Hydraulic drive is usually used in situations that require high force and precise control, while electric drive is more suitable for high-speed and lightweight applications.
The application fields include industrial assembly, safety and explosion protection, medical surgery and other fields. Different types of robot arms are widely used in different scenarios according to their structural characteristics and movement capabilities.