Mechanical Structure System
Kubva pamichina yekumisikidza maonero, marobhoti emaindasitiri anowanzo kupatsanurwa kuita serial marobhoti uye akafanana marobhoti. Chimiro che serial marobhoti ndechekuti kufamba kweaxis imwe kunoshandura kwakabva kurongeka kwehurongwa hweimwe axis, nepo kufamba kweakisi imwe murobhoti yakafanana hakuchinji kwakabva kurongeka kweimwe axis. Marobhoti ekutanga maindasitiri ese aishandisa serial michina. A parallel mechanism inotsanangurwa seyakavharika-loop mechanism umo nzvimbo inofamba neplatform yakadzikwa zvakabatanidzwa nemacheni maviri akazvimirira ega kinematic, macheni ane madhigirii maviri kana kupfuura erusununguko, uye anofambiswa achifambirana. A parallel mechanism ine zvikamu zviviri: wrist uye ruoko. Ruoko rwekufamba rune simba rakakosha panzvimbo yebasa, nepo wrist iri kubatana pakati pechishandiso nemuviri mukuru. Kana tichienzanisa nemarobhoti anotevedzana, marobhoti anofambirana ane zvakanakira kuomesa musoro, kusimba kwechimiro, kuremerwa kwepamusoro-kunotakura, kukwira kwemicro-kunyatsofamba, uye kuderera kwekufamba. Mukutsunga kwechinzvimbo, iyo yekumberi mhinduro ye serial marobhoti iri nyore, asi inverse mhinduro yakaoma kwazvo; ukuwo, nokuda parallel marobhoti, mberi mhinduro yakaoma, asi inverse mhinduro iri nyore chaizvo.
Dhiraivha System
Iyo drive system ndiyo mudziyo unopa simba kune mechanical chimiro system. Zvichienderana nesimba remagetsi, madhiraivha masisitimu anoiswa mumhando ina: hydraulic, pneumatic, electric, uye mechanic. Marobhoti ekutanga maindasitiri akashandisa hydraulic drives. Zvisineyi, nekuda kwezvinetso zvakaita sekudonha, ruzha, uye kusamira zvakanaka-kuderera, pamwe nekuwanda uye kudhura kwemagetsi mayunitsi, madhiraivha emagetsi ari kushandiswa chete mumarobhoti makuru, anorema{4}}, maparallel processing marobhoti, uye mamwe maapplication akakosha. Pneumatic dhiraivha inopa mabhenefiti akadai sekumhanya kwakanyanya, yakapusa sisitimu chimiro, kugadzirisa kuri nyore, uye mutengo wakaderera. Nekudaro, zvigadziriso zvepneumatic zvinoshanda pazvidzvanyiriri zvakaderera, zvichiita kuti kunyatsomira kuve kwakaoma, uye zvinowanzo shandiswa kutyaira magumo ekupedzisira mumarobhoti emaindasitiri. Pneumatic grippers, masilinda anotenderera, uye pneumatic suction cups anogona kushandiswa semagumo ekupedzisira epakati kusvika kudiki mutoro workpiece inobata uye kusangana. Madhiraivha emagetsi parizvino ndiyo inonyanya kushandiswa nzira yekutyaira. Hunhu hwavo hunosanganisira nyore kupa magetsi, kukurumidza kupindura, hombe yekutyaira, nyore kuona chiratidzo, kutapurirana, uye kugadzirisa, uye kugona kushandisa akasiyana anochinjika nzira dzekudzora. Dhiraivha mota dzinowanzo shandisa stepper motors kana servo motors; direct drive motors dzinoshandiswawo, asi idzi dzinodhura uye dzine kudzora kwakaoma. Iwo anodzikisira anofananidzwa nemamotor anowanzo ari harmonic anoderedza, cycloidal pinwheel reducers, kana mapuraneti magiya anoderedza. Nekuda kweiyo yakakosha mutsara dhiraivha zvinodiwa mumarobhoti akafanana, mutsara mota dzakagamuchirwa zvakanyanya mundima iyi.
Sensing System
Iyo robhoti sensing system inoshandura akasiyana emukati mamiriro uye ruzivo rwezvakatipoteredza kubva kumasaini kuenda kune data uye ruzivo iro robhoti pacharo kana mamwe marobhoti anogona kunzwisisa nekushandisa. Kunze kwekunzwa huwandu hwemakanika hunoenderana nenzvimbo yayo yekushanda, sekutama, kumhanya, uye simba, tekinoroji yekuona yekuona chinhu chakakosha chekunzwa kwemarobhoti eindasitiri. Visual servo masisitimu anoshandisa ruzivo rwekuona sezviratidzo zvemhinduro kudzora uye kugadzirisa chinzvimbo cherobhoti uye chimiro. Mashini ekuona masisitimu anoshandiswawo zvakanyanya mukuongorora kwemhando, chitupa chebasa, kuronga chikafu, uye kurongedza. Iyo yekunzwa system ine yemukati uye yekunze sensor modules; kushandiswa kwemasensa akangwara kunonatsiridza kufamba kwerobhoti, kuchinjika, uye kungwara.
