??The robotic arm is mainly composed of three parts: the arm, the movement mechanism and the control system. The mechanical hand is a component used to grasp the workpiece (or tool). It has various structural forms according to the shape, size, weight, material and operating requirements of the object to be grasped, such as clamping type, holding type and adsorption type. type etc. The movement mechanism enables the hand to complete various rotations (swings), movements or compound movements to achieve prescribed actions and change the position and posture of the grasped object.
??The independent movement modes of the movement mechanism such as lifting, telescoping, and rotating are called the degrees of freedom of the manipulator. In order to grasp objects at any position and orientation in space, 6 degrees of freedom are required. Degrees of freedom are key parameters in robotic arm design. The more degrees of freedom, the greater the flexibility and versatility of the robotic arm, and the more complex its structure. Generally, special-purpose robotic arms have 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the robotic arm. At the same time, the sensor feedback information is received to form a stable closed-loop control. The core of the control system is usually composed of a microcontroller chip such as a microcontroller or DSP, and the required functions are achieved by programming it.
??About the classification of robotic arms
??The types of robotic arms can be divided into hydraulic, pneumatic, electric, and mechanical robotic arms according to the driving method; they can be divided into special robotic arms and general robotic arms according to their scope of application; they can be divided into point positions according to the motion trajectory control method. Control and continuous trajectory control of robotic arms, etc. Robotic arms are usually used as additional devices for machine tools or other machines, such as loading, unloading and transferring workpieces on automatic machine tools or automatic production lines, replacing tools in machining centers, etc. Generally, there is no independent control device. Some operating devices need to be directly controlled by humans. For example, the master-slave operator used in the atomic energy department to handle hazardous materials is also often called a robotic arm. The application of robotic arms in the forging industry can further develop the production capacity of forging equipment and improve working conditions such as heat and fatigue. The robotic arm was first developed in the United States. In 1958, the United States United Controls Corporation developed the first robotic arm.
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