Components of the robot's external axes:

The external axis of the robot is generally composed of an actuator, a driving device, a detection device, a control system and complex machinery.

​Executive agency

That is, the robot body, its arms generally use a space open-chain linkage mechanism, in which the kinematic pair (rotating pair or moving pair) is often called a joint, and the number of joints is usually the number of degrees of freedom of the robot. According to the different joint configuration types and motion coordinate forms, robot actuators can be divided into rectangular coordinate type, cylindrical coordinate type, polar coordinate type and joint coordinate type. For the sake of anthropomorphism, the relevant parts of the robot body are often called the base, waist, arm, wrist, hand (gripper or end effector) and walking part (for mobile robots).

​Driving device

It is a mechanism that drives the actuator to move. According to the command signal sent by the control system, the robot moves with the help of power components. Its input is an electrical signal, and its output is linear and angular displacement. The driving devices used by robots are mainly electric driving devices, such as stepper motors, servo motors, etc. In addition, hydraulic, pneumatic and other driving devices are also used.

Detection device

It detects the movement and working conditions of the robot in real time, feeds it back to the control system as needed, and after comparing it with the set information, adjusts the actuator to ensure that the robot's movements meet the predetermined requirements. Sensors as detection devices can be roughly divided into two categories: one is internal information sensors, which are used to detect the internal conditions of each part of the robot, such as the position, speed, acceleration, etc. of each joint, and send the measured information to the controller as a feedback signal to form a closed-loop control. One type is external information sensors, which are used to obtain information about the robot's working objects and the external environment, so that the robot's movements can adapt to changes in external conditions, so that it can achieve a higher level of automation, and even give the robot a certain "feeling" and develop towards intelligence. For example, external sensors such as vision and sound provide relevant information about the working object and the working environment. Using this information to form a large feedback loop will greatly improve the working accuracy of the robot.

​Control system

One is centralized control, that is, all control of the robot is completed by a microcomputer. The other is decentralized (level) control, which uses multiple microcomputers to share the control of the robot. For example, when upper and lower level microcomputers are used to jointly complete the control of the robot, the host computer is often responsible for system management, communication, kinematics and dynamics calculations, and sends instruction information to the lower-level microcomputer; as a lower-level slave machine, each joint corresponds to a CPU, performs interpolation operations and servo control processing, realizes given motion, and feeds back information to the host computer. According to different job task requirements, robot control methods can be divided into point control, continuous trajectory control and force (torque) control.

Development characteristics of robot external axes:

The characteristics of today's robot development can be summarized as follows: horizontally, the application scope is getting wider and wider. Expand from 95% industrial applications to non-industrial applications in more fields. Such as surgery, fruit picking, pruning, tunnel excavation, reconnaissance, demining, as well as space robots and submersible robots. There is no limit to the application of robots. As long as you can think of it, you can create it; vertically, there will be more and more types of robots, such as micro-robots that enter the human body, which has become a new direction, and can be as small as a grain of rice; robot intelligence will be strengthened, and robots will be smarter.

The external axis of the robot is generally composed of an actuator, a driving device, a detection device, a control system and complex machinery.