[Knowledge] When the industrial robot line speed reaches a large speed, can it be called high speed?

The words "high speed" and "high precision" belong to the words that everyone is too accustomed to, and they do not know how to explain them accurately.

This topic can be broken into two parts:

Why is there no clear definition of "high speed" and "high precision"?

Since there is no clear definition, under what circumstances can you call your robot "high speed" and "high precision"?

At present, the speed of the robot is mainly evaluated from two aspects, one is the maximum rotational speed of each joint; the other is the spatial motion speed (linear velocity and angular velocity) at the end of the mechanical arm.

In the manual of each robot, the maximum speed of each joint is listed, but the value of the maximum spatial linear velocity is rarely given. (Some manufacturers will give a maximum synthesis speed in the Data Sheet, but this value is the composite speed of each joint rotating at the maximum speed, more is the maximum speed of the reaction joint, not much practical significance) The reason why the line speed is not given in the description is because the maximum speed that the robot arm can reach in different forms is different. To illustrate this problem, we first look at the most widely used industrial robots . It can be divided into three types from mechanical structure: tandem 6-axis robot (mechanical arm), SCARA robot (Selective Compliance Assembly RobotArm) and Delta robot. See the following figure (for simplicity of explanation, 4-axis palletizing/transporting, 7-axis redundancy) The remaining mechanical arms, serial and hybrid robots are not listed):

Take the most common series of 6-axis industrial robots as an example, the structure is basically the same as the human arm. Imagine that your arm is a robotic arm. When you straighten it and retract it, you can harden it. The maximum speed that your hand can reach is not the same. If you straighten it, it will obviously be much faster. Industrial robots are the same.

Industrial robots are highly flexible programmable devices. In different robot applications, the robot may be used in a straightened form, or the recovered form may be used. All practical applications shall prevail. Therefore, robot manufacturers cannot define a “clear” arm state (it cannot be exhaustive because there are countless possible robot forms; nor can they give the most common form, because the form that is commonly used by one customer may not be applicable to another customer. Even if a form that uses the most is used, the direction of motion desired by the user is different. The three-dimensional space has six degrees of freedom, and the combination of speed directions between them is infinite. Clear "the speed of the line. Therefore, most manufacturers simply do not give the line speed, a few manufacturers will give a "maximum spatial synthesis speed" parameters, explained above. The above is for the same robot, different forms correspond to different maximum space speeds; for different robots, the situation will be different, there are two main reasons:

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