Do you know the axis and motion of an industrial 6-axis robot?

With the progress of society and the development of science and technology, the application of industrial robots is becoming more common. Industrial robot is a multi-purpose manipulator which can realize automatic control, repeatable programming, multi-degree of freedom, and freedom of movement to build space right angle relation. The way in which the work behaves is mainly by completing linear motions along the X, Y, Z axes. Because of its variety, the axis of motion and the coordinate system are also many, it is easy to determine error, especially for beginners.

Robot motion axes

The so-called industrial robot axis can be explained by professional noun degrees of freedom, if the robot has three degrees of freedom, then it can move along the x, Y, Z axis freely, but it does not tilt or rotation. When the number of axes of a robot increases, it is more flexible for the robot.

In the production of industrial robots, it is generally necessary to equip peripheral equipment, such as rotating workpiece rotary table and moving workpiece moving table, in addition to its own performance characteristics. The motion and position control of these peripherals need to be matched with industrial robots and require corresponding accuracy. Usually the robot motion axis is divided into the robot shaft, the base shaft and the work axle according to its function, the base shaft and the work axle are collectively referred to as external axes.

In the actual production is commonly used in 6 joint industrial robot, the manipulator has 6 movable joints (axes), different industrial robot body motion axis definition is different. The axis used to ensure that the end effector reaches an arbitrary position in the working space is called the basic axis or spindle, and the axis used to implement the arbitrary space attitude of the end effector is called the wrist axis or the secondary axis.

6-Axis Joint robot

The mechanical structure of the six-axis joint robot, six servo motor directly through the reducer, synchronous pulley drive six joint axis rotation. Six-axis industrial robots generally have 6 degrees of freedom, the common six-axis industrial robots include rotation (s-axis), lower arm (L-axis), upper arm (U-axis), wrist rotation (R-axis), wrist swing (b-axis) and wrist rotation (t-axis). 6 Joint synthesis achieves the 6 DOF movement at the end.

The motion of a six-axis joint robot:

As the most widely used type of industrial robot, six-axis industrial robot has many advantages, such as high flexibility, large load, high positioning precision and so on. The six axes of the respective motion path, the number from June will be Fanuc Robot R-2000 IB for detailed interpretation.

J1 rotation (S-axis)

J2 Lower Arm (L-axis)

J3 Upper arm (U-axis)

J4 Wrist rotation (R-axis)

J5 Wrist Swing (b-axis)

J6 Wrist rotation (T-axis)

---the END---

Disclaimer: This article is reproduced or adapted from the network, the copyright belongs to the original author. If copyright is involved, please contact delete!