1. Basic principles and structure of a four axis robot:
1. In terms of principle: A four axis robot is composed of four joints connected, each of which can perform three-dimensional motion. This design gives it high maneuverability and adaptability, allowing it to flexibly perform various tasks in narrow spaces. The working process involves the main control computer receiving job instructions, analyzing and interpreting the instructions to determine motion parameters, performing kinematic, dynamic, and interpolation operations, and obtaining coordinated motion parameters for each joint. These parameters are output to the servo control stage, driving the joints to produce coordinated motion. Sensors feed back joint motion output signals to the servo control stage to form local closed-loop control, achieving precise spatial motion.
2. In terms of structure, it usually consists of a base, arm body, forearm, and gripper. The gripper part can be equipped with different tools according to different needs.
2. Comparison between four axis robots and six axis robots:
1. Degrees of Freedom: A quadcopter has four degrees of freedom. The first two joints can freely rotate left and right on a horizontal plane, while the metal rod of the third joint can move up and down in a vertical plane or rotate around a vertical axis, but cannot tilt; A six axis robot has six degrees of freedom, two more joints than a four axis robot, and has the ability similar to human arms and wrists. It can pick up components facing any direction on a horizontal plane and place them into packaged products at special angles.
2. Application scenarios: Four axis robots are suitable for tasks such as handling, welding, dispensing, loading and unloading that require relatively low flexibility but have certain requirements for speed and accuracy; Six axis robots are capable of performing more complex and precise operations, and are widely used in scenarios such as complex assembly and high-precision machining.
3. Application areas of quadcopters 5:
1. Industrial manufacturing: capable of replacing manual labor to complete heavy, dangerous, or high-precision tasks, such as handling, gluing, and welding in the automotive and motorcycle parts industry; Assembly, testing, soldering, etc. in the electronic product industry.
2. Medical field: Used for minimally invasive surgery, its high accuracy and stability make surgical operations more precise and safe, reducing patient recovery time.
3. Logistics and warehousing: Automated transfer of goods from one location to another, improving warehousing and logistics efficiency.
4. Agriculture: It can be applied to orchards and greenhouses to complete tasks such as fruit picking, pruning, and spraying, improving agricultural production efficiency and quality.
4. Programming and Control of Four Axis Robots:
1. Programming: It is necessary to master the programming language and software of robots, write programs according to specific task requirements, and achieve motion control and operation of robots. Through this software, robots can be operated online, including connection with controllers, servo power on, origin regression, inch movement, point tracking, and monitoring functions.
2. Control method: It can be controlled through PLC and other controllers, or manually controlled through a teaching pendant. When communicating with PLC, it is necessary to master the relevant communication protocols and configuration methods to ensure normal communication between the robot and PLC.
5. Hand eye calibration of quadcopter:
1. Purpose: In practical robot applications, after equipping robots with visual sensors, it is necessary to convert the coordinates in the visual coordinate system to the robot coordinate system. Hand eye calibration is to obtain the transformation matrix from the visual coordinate system to the robot coordinate system.
2. Method: For a four axis planar robot, since the areas captured by the camera and operated by the robotic arm are both planes, the task of hand eye calibration can be transformed into calculating the affine transformation between the two planes. Usually, the "9-point method" is used, which involves collecting data from more than 3 sets (usually 9 sets) of corresponding points and using the least squares method to solve the transformation matrix.
6. Maintenance and upkeep of quadcopters:
1. Daily maintenance: including regular inspections of the appearance of the robot, the connection of each joint, the working status of sensors, etc., to ensure the normal operation of the robot. At the same time, it is necessary to keep the working environment of the robot clean and dry, and avoid the influence of dust, oil stains, etc. on the robot.
2. Regular maintenance: According to the usage of the robot and the manufacturer's recommendations, regularly maintain the robot, such as replacing lubricating oil, cleaning filters, checking electrical systems, etc. Maintenance work can extend the service life of robots, improve their work efficiency and stability.
Is there a significant cost difference between a four axis robot and a six axis robot?
1. Core component cost 4:
1. Reducer: Reducer is an important component of robot cost. Due to the large number of joints, six axis robots require more reducers, and often have higher precision and load capacity requirements, which may require higher quality reducers. For example, RV reducers may be used in some key areas, while four axis robots have relatively lower requirements for reducers. In some application scenarios, the specifications and quality of reducers used may be lower than those of six axis robots, so the cost of reducers for six axis robots will be higher.
2. Servo motors: The motion control of six axis robots is more complex, requiring more servo motors to accurately control the motion of each joint, and higher performance requirements for servo motors to achieve fast and accurate action response, which increases the cost of servo motors for six axis robots. Four axis robots have fewer joints, requiring relatively fewer servo motors and lower performance requirements, resulting in lower costs.
2. Control system cost: The control system of a six axis robot needs to handle more joint motion information and complex motion trajectory planning, resulting in higher complexity of control algorithms and software, as well as higher development and debugging costs. In contrast, the motion control of a four axis robot is relatively simple, and the cost of the control system is relatively low.
3. R&D and design costs: The design difficulty of six axis robots is greater, requiring more engineering technology and R&D investment to ensure their performance and reliability. For example, the joint structure design, kinematics, and dynamics analysis of six axis robots require more in-depth research and optimization, while the structure of four axis robots is relatively simple and the research and development design cost is relatively low.
4. Manufacturing and assembly costs: Six axis robots have a larger number of components, and the manufacturing and assembly processes are more complex, requiring higher precision and process requirements, which leads to an increase in their manufacturing and assembly costs. The structure of a four axis robot is relatively simple, the manufacturing and assembly process is relatively easy, and the cost is also relatively low.
However, the specific cost differences will also be influenced by factors such as brand, performance parameters, and functional configurations. In some low-end application scenarios, the cost difference between four axis robots and six axis robots may be relatively small; In the high-end application field, the cost of a six axis robot may be much higher than that of a four axis robot.
Post time: Nov-08-2024
