机器人资料

直角坐标机器人（Cartesian coordinate robot）
1、是以XYZ直角坐标系统为基本数学模型，以伺服电机、步进电机为驱动的单轴机械臂为基本工作单元，以滚珠丝杆、同步皮带、齿轮齿条为常用的传动方式所架构起来的机器人系统，可以完成在XYZ三维坐标系中任意一点的到达和遵循可控的运动轨迹。

（百度百科：直角坐标机器人）
2、可应用于点胶、滴塑、喷涂、码垛、分拣、包装、焊接、金属加工、搬运、上下料、装配、印刷等常见的工业生产领域。

（百度百科：直角坐标机器人）
3、A cartesian coordinate robot (also called linear robot) is an industrial robot whose three principal axes of control are linear (i.e. they move in a straight line rather than rotate) and are at right angles to each other.The three sliding joints correspond to moving the wrist up-down,in-out,back-forth. Among other advantages, this mechanical arrangement simplifies the Robot control arm solution. Cartesian coordinate robots with the horizontal member supported at both ends are sometimes called Gantry robots. They are often quite large.
A popular application for this type of robot is a computer numerical control machine (CNC machine) and 3D printing. The simplest application is used in milling and drawing machines where a pen or router translates across an x-y plane while a tool is raised and lowered onto a surface to create a precise design. Pick and place machines and plotters are also based on the principal of the cartesian coordinate robot.（From Wikipedia）
SCARA机器人（Selective Compiance Assembly Robot Arm）
1、平面关节型机器人又称SCARA型机器人（Selective Compiance Assembly Robot Arm），是一种应用于装配作业的机器人手臂。

2、SCARA机器人是一种圆柱坐标型的特殊类型的工业机器人，它有3个旋转关节，其轴线相互平行，在平面内进行定位和定向。

另一个关节是移动关节，用于完成末端件在垂直于平面的运动。

3、应用于塑料工业、汽车工业、电子产品工业、药品工业和食品工业等领域，主要职能是搬取零件和装配工作，由于其具有的特定的形状，决定了其工作范围类似于一个扇形区域。

（百度百科）
4、The SCARA acronym stands for Selective Compliance Assembly Robot Arm or Selective Compliance Articulated Robot Arm.
In 1981, Sankyo Seiki, Pentel and NEC presented a completely new concept for assembly robots. The robot was developed under the guidance of Hiroshi Makino, a professor at the University of Yamanashi. The robot was called Selective Compliance Assembly Robot Arm, SCARA. Its arm was rigid in the Z-axis and pliable in the XY-axes, which allowed it to adapt to holes in the XY-axes.
By virtue of the SCARA's parallel-axis joint layout, the arm is slightly compliant in the X-Y direction but rigid in the ‘Z’ direction, hence the term: Selective Compliant. This is advantageous for many types of assembly operations, i.e., inserting a round pin in a round hole without binding.
The second attribute of the SCARA is the jointed two-link arm layout similar to our human arms, hence the often-used term, Articulated. This feature allows the arm to extend into confined areas and then retract or “fold up” out of the way.This is advantageous for transferring parts from one cell to another or for loading/ unloading process stations that are enclosed.
SCARAs are generally faster and cleaner than comparable Cartesian robot systems. Their single pedestal mount requires a small footprint and provides an easy, unhindered form of mounting. On the other hand, SCARAs can be more expensive than comparable Cartesian systems and the controlling software requires inverse kinematics for linear interpolated moves. This software typically comes with the SCARA though and is usually transparent to the end-user.
关节机器人（jiont robot）
1、也称关节手臂机器人或关节机械手臂，是当今工业领域中最常见的工业机器人的形态之一。

适用于诸多工业领域的机械自动化作业。

比如自动装配、喷漆、搬运、焊接等工作。

2、分类：五轴和六轴关节机器人、托盘关节机器人、平面关节机器人。

（1）五轴和六轴关节机器人：拥有五个或六个旋转轴，类似于人类的手臂。

应用领域：装货、卸货、喷漆、表面处理、测试、测量、弧焊、点焊、包装、装配、切削机床、固定、特种装配操作、锻造、铸造等。

（2）托盘关节机器人：两个或四个旋转轴，以及机械抓手的定位锁紧装置。

应用领域：装货、卸货、包装、特种搬运操作、托盘运输等。

（3）平面关节机器人：三个相互平行的旋转轴和一个线性轴。

应用领域：装货、卸货、焊接、包装、固定、涂层、喷漆、粘结、封装、特种搬运操作、装配等。

此外，还可以按照关节机器人的工作性质分类，比如搬运机器人、点焊机器人、弧焊机
器人、喷漆机器人、激光切割机器人。