Manipulator is a kind of product of investment casting equipment, which can greatly improve production efficiency after use. Today, Xiaobian will introduce the structure and composition of the production manipulator.
The manipulator is mainly composed of three parts: actuator, driving mechanism and control system. The hand is a part used to grasp the workpiece (or tool). It has a variety of structural forms according to the shape, size, weight, material and operation requirements of the object to be grasped, such as clamping type, supporting type and adsorption type. The movement mechanism enables the hand to complete various rotations (swings), movements or compound movements to achieve the specified actions and change the position and posture of the object to be grasped. The lifting, retracting, rotating and other independent motion modes of the motion mechanism 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. The degree of freedom is the key parameter of manipulator design. The more degrees of freedom, the greater the flexibility and versatility of the manipulator, and the more complex its structure. Generally, the special manipulator has 2~3 degrees of freedom. The control system controls the motor of each degree of freedom of the manipulator to complete specific actions. At the same time, the feedback information from the sensor is received to form a stable closed-loop control. The core of the control system is usually composed of microcontroller or dsp and other micro control chips.
