工業(yè)機器人的基本組成：機械部分、傳感部分、控制部分、控制部分、控制系統(tǒng)。

The basic components of industrial robots include mechanical parts, sensing parts, control parts, control parts, and control systems.

機械結構系統(tǒng)：它是利用各種電動機產生的力矩和力，直接或間接的驅動機器人本體以獲得機器人的各種運動的執(zhí)行機構。作用：提供機器人各部位、給關節(jié)動作的原動力。驅動系統(tǒng)可以是液壓傳動、氣動傳動、電動傳動，或者把它們結合起來應用的綜合系統(tǒng)；可以直接驅動或者通過同步帶、鏈條、輪系、諧波齒輪等機械傳動機構進行間接驅動。

Mechanical structure system: It utilizes the torque and force generated by various electric motors to directly or indirectly drive the robot body to obtain various motion execution mechanisms of the robot. Function: Provide the driving force for various parts of the robot and joint movements. The driving system can be hydraulic transmission, pneumatic transmission, electric transmission, or a comprehensive system that combines them for application; It can be directly driven or indirectly driven through mechanical transmission mechanisms such as synchronous belts, chains, gear trains, harmonic gears, etc.

工業(yè)機器人的機械結構系統(tǒng)指機器人的主體機械，即機座和實行機構，由機身、手臂、未軍執(zhí)行器三大組件組成。每一大件都要若干自由度構成一個多自由度的機械系統(tǒng)。若機身具有行走機構便構成行走機器人；若機身不具備行走及轉腰機構，則構成單機器人臂。手臂一般由上臂、下臂和手腕組成。末端執(zhí)行器是安裝在手腕上的重要部件，它可以是二手指或多個手指的手爪，也可以是噴漆槍、焊槍等。

The mechanical structure system of industrial robots refers to the main machinery of the robot, namely the base and implementation mechanism, composed of three major components: the body, arms, and military actuators. Each large piece requires several degrees of freedom to form a multi degree of freedom mechanical system. If the body has a walking mechanism, it constitutes a walking robot; If the body does not have a walking and waist turning mechanism, it constitutes a single robot arm. The arm is generally composed of the upper arm, lower arm, and wrist. The end effector is an important component installed on the wrist, which can be a second-hand finger or a claw with multiple fingers, as well as a spray gun, welding gun, etc.

感知系統(tǒng)：感知系統(tǒng)由內部傳感器和外部傳感器組成，其是獲取機器人內部和外部環(huán)境信息，并把這些信息反饋給控制系統(tǒng)。內部狀態(tài)傳感器用來檢測機器人本身狀態(tài)(如手臂間的角度)的傳感器，多為檢測位置和角度的傳感器。具體有：位置傳感器、角度傳感器等。外部狀態(tài)傳感器用來檢測機器人所處環(huán)境(如檢測物體，距離物體的距離)及狀況(如檢測抓取的物體是否滑落)的傳感器。具體有距離傳感器、視覺傳感器、力覺傳感器等。外部傳感器一方面使機器人更準確地獲取周圍環(huán)境情況，另一方面也能起到誤差矯正的作用。

Perception system: The perception system consists of internal sensors and external sensors, which obtain information about the robot's internal and external environment, and feedback this information to the control system. Internal state sensors are sensors used to detect the status of the robot itself (such as the angle between arms), mostly for detecting position and angle. Specifically, there are position sensors, angle sensors, etc. External state sensors are sensors used to detect the environment in which the robot is located (such as detecting objects, distance from objects) and the condition (such as detecting whether the grasped object has slipped). Specifically, there are distance sensors, visual sensors, force sensors, etc. External sensors not only enable robots to obtain more accurate information about the surrounding environment, but also play a role in error correction.

機器人一環(huán)境交互系統(tǒng)：作用：機器人一環(huán)境交互系統(tǒng)是實現工業(yè)機器人與外部環(huán)境中的設備相互聯系和協(xié)調的系統(tǒng)。工業(yè)機器人與外部設備集成為一個功能單元，如加工制造單元、焊接單元、裝配單元等。也可以是多臺機器人、多臺機床或設備、多個零件存儲裝置等集成為一個去執(zhí)行復雜任務的功能單元。

Robot environment interaction system: Function: The robot environment interaction system is a system that enables the interconnection and coordination between industrial robots and equipment in the external environment. Industrial robots are integrated with external devices into a functional unit, such as processing and manufacturing units, welding units, assembly units, etc. It can also be a functional unit that integrates multiple robots, machine tools or equipment, and multiple parts storage devices to perform complex tasks.

人機交互系統(tǒng)：是使操作人員參與機器人控制，并與機器人進行聯系的裝置。歸納起來分為兩大類：指令給定裝置和信息顯示裝置?？刂葡到y(tǒng)的任務是根據機器人的作業(yè)指令從傳感器獲取反饋信號，控制機器人的執(zhí)行機構，使其完成規(guī)定的運動和功能。

Human computer interaction system: It is a device that allows operators to participate in robot control and communicate with the robot. It can be classified into two categories: instruction giving devices and information display devices. The task of the control system is to obtain feedback signals from sensors based on the robot's operation instructions, control the robot's execution mechanism, and enable it to complete the specified movements and functions.

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