Robot Joints can drive the robot forward through specific driving methods and control mechanisms.
1. Joint types and working principles
Rotary joints
Working principle: Rotary joints rotate the robot's joint parts around an axis through the drive of the motor. The motor converts electrical energy into mechanical energy, and reduces the output speed through the reducer to increase the torque.
Application: Rotary joints are widely used in the legs, arms and other parts of the robot, and realize the robot's walking, grasping and other actions through rotational movement.
Translational joints
Working principle: Translational joints translate the parts along the linear axis through a driving device (such as a motor). Common translational joint structures include slider and guide rail structures and screw transmission structures.
Application: Translational joints are mainly used in parts that require linear motion, such as the robot's sliding platform, telescopic arm, etc.
2. Driving method
Motor drive
The motor is one of the main ways to drive Robot Joints. By controlling the motor's current, voltage and other parameters, the joint's rotation angle, speed and other motion characteristics can be accurately controlled.
Common motor types include DC motors, stepper motors, servo motors, etc. Among them, servo motors are widely used in Robot Joints drive due to their advantages such as high precision and high response speed.
Hydraulic drive
Hydraulic drive delivers hydraulic oil to the hydraulic cylinder through a hydraulic pump to push the piston to perform linear or rotational motion. Hydraulic drive has the advantages of large output force and smooth movement.
However, the hydraulic drive system is relatively complex, with many parts that need to be maintained, and hydraulic oil may pollute the environment. Therefore, in Robot Joints drive, the application of hydraulic drive is relatively small.
3. Control mechanism
Sensor feedback
Robot Joints are usually equipped with sensors such as gyroscopes, accelerometers, and contact sensors to monitor the motion state and environmental information of the joints in real time.
Through the information fed back by the sensors, the control system can adjust the output parameters of the motor in time to ensure the motion accuracy and stability of the Robot Joints.
Closed-loop control system
The closed-loop control system adjusts the output parameters of the motor by comparing the difference between the actual motion state fed back by the sensor and the expected motion state to reduce the error and achieve the desired motion effect.
Closed-loop control systems can improve the motion accuracy and response speed of Robot Joints, enabling robots to better adapt to complex environments and task requirements.
In summary, Robot Joints can drive robots forward and complete various complex tasks through specific driving methods and control mechanisms.
