Robot joints are the basic units that make up the mechanical structure of robots, and various movements of robots can be achieved through the combination of joints. Below are several common types of robot joints and their connection methods.
1. Revolution Joint
Definition: A joint that allows rotation along an axis, similar to the wrist or elbow of the human body.
characteristic:
Single degree of freedom: rotation around only one axis is allowed.
• Rotation angle: It can be a limited range of angles or an infinite rotation (continuous rotation).
Application:
Industrial robots: used to achieve rotational movement of arms.
Service robot: used for rotating the head or arms.
Connection method:
Direct connection: The joint is directly driven to rotate by a motor.
• Reducer connection: Use a reducer to reduce motor speed and increase torque.
2. Prismatic Joint
Definition: A joint that allows linear movement along an axis, similar to the extension and contraction of a human arm.
characteristic:
Single degree of freedom: only allows linear movement along one axis.
Linear displacement: It can be a limited displacement range or a large displacement distance.
Application:
Longmen robot: used to achieve linear motion along the X-Y axis.
Stacking robot: used for the up and down handling of goods.
Connection method:
Screw connection: Linear motion is achieved through the coordination of the screw and nut.
Linear guide connection: Use linear guides and sliders to achieve smooth linear motion.
3. Fixed Joint
Definition: A joint that does not allow any relative motion, mainly used to fix two components.
characteristic:
• Zero degrees of freedom: does not provide any degrees of motion freedom.
Rigid connection: Ensure that there is no relative motion between two components.
Application:
Robot base: used to fix the basic structure of the robot.
The fixed part of the robotic arm: used to connect the fixed segments of different joints.
Connection method:
Welding: permanently fix two components.
Screw connection: It can be disassembled by tightening with screws.
4. Composite Joint
Definition: A joint that combines rotation and translation functions to achieve more complex movements.
characteristic:
• Multiple degrees of freedom: can achieve both rotation and translation simultaneously.
High flexibility: suitable for situations that require multiple degrees of freedom of movement.
Application:
Dual arm collaborative robot: used to achieve complex arm movements.
Biomimetic robots: mimic the complex motion patterns of living organisms.
Connection method:
Integrated motor: Integrating rotation and translation functions into one motor.
Multi joint combination: Achieving multi degree of freedom motion through the combination of multiple single degree of freedom joints.
5. Spherical Joint
Definition: Allow rotational motion on three mutually perpendicular axes, similar to the shoulder joints of the human body.
characteristic:
Three degrees of freedom: can rotate in three directions.
High flexibility: suitable for applications that require large-scale movement.
Application:
Six axis industrial robot: used to achieve large-scale movement of the arm.
Service robot: used for multi-directional rotation of the head or arms.
Connection method:
Spherical bearings: Three directions of rotation are achieved through spherical bearings.
Multi axis motor: Use multiple motors to drive rotation in different directions.
Summary of Connection Methods
Different connection methods determine the performance and applicability of robot joints:
1. Direct connection: Suitable for small, lightweight robot joints, directly driven by motors.
2. Reducer connection: Suitable for robot joints that require high torque, reducing speed and increasing torque through a reducer.
3. Screw connection: Suitable for joints that require linear motion, achieved through the combination of a screw and a nut.
4. Linear guide connection: Suitable for joints that require smooth linear motion, achieved through linear guides and sliders.
5. Welding: Suitable for components that require permanent fixation, achieving rigid connections through welding.
6. Screw connection: Suitable for components that require detachable connections, achieved through screw fastening.
summary
The selection and connection method of robot joints depend on specific application requirements, including motion range, load capacity, accuracy requirements, etc. Through reasonable design and selection, efficient and flexible movement of robots can be achieved. Different joint types and connection methods can be combined to meet the needs of different scenarios.
Post time: Oct-30-2024
