The movement of the six-axis industrial robot arm is based on motor drive and transmission mechanism. Each axis is equipped with a dedicated motor, which is connected to the joint of the robot arm through transmission devices such as reducers and couplings. When the motor is powered on, it will generate torque, which is transmitted to the joint through the transmission mechanism, thereby driving the various parts of the robot arm to move. This motor-driven movement method has the characteristics of high precision, high speed and high reliability, and can accurately control the position and posture of the robot arm.
Degree of freedom refers to the number of parameters that the robot arm can move independently. The six-axis industrial robot arm has six degrees of freedom, which correspond to translational movement along three coordinate axes and rotational movement around three coordinate axes. These six degrees of freedom enable the robot arm to be flexibly positioned and oriented in three-dimensional space, so that it can reach any position and achieve various complex postures. The design of degrees of freedom is the basis for the robot arm to achieve complex trajectory operations, which provides sufficient flexibility and movement space for the robot arm.
The three translational degrees of freedom are along the X, Y, and Z axes of the Cartesian coordinate system. Through the coordinated movement of these three degrees of freedom, the robot arm can achieve positioning at any position in three-dimensional space. For example, in an assembly task, the robot arm needs to place the parts accurately at the designated position. By controlling the translational motion of the X, Y, and Z axes, the robot arm can accurately move the parts above the target position to prepare for the subsequent assembly operation. This precise translational motion capability enables the robot arm to quickly and accurately reach the designated position in different working scenarios, meeting the positioning requirements of various complex trajectory operations.
The other three rotational degrees of freedom rotate around the X, Y, and Z axes respectively. The rotation around the X axis can make the end effector of the robot arm adjust the angle on the horizontal plane, the rotation around the Y axis can change the pitch angle of the robot arm, and the rotation around the Z axis can achieve the torsion of the robot arm. The combination of these rotational degrees of freedom can enable the end effector of the robot arm to achieve various complex posture changes. For example, in a welding task, the robot arm needs to adjust the angle of the welding gun according to the requirements of the welding path. By controlling the rotational degrees of freedom, the robot arm can accurately adjust the posture of the welding gun so that it maintains a suitable angle with the welding surface, thereby ensuring the welding quality.
The six degrees of freedom of the six-axis industrial robot arm do not work independently, but achieve coordinated movement through a complex control system. When performing complex trajectory operations, the control system will calculate the motion parameters required for each degree of freedom in real time according to the preset trajectory equation, and send instructions to each motor driver to achieve precise coordination of each degree of freedom. For example, when performing a curved trajectory handling task, the robot arm needs to perform translation and rotation movements at the same time. The control system will accurately coordinate the movement of the six degrees of freedom according to the shape and speed requirements of the curve, so that the robot arm can smoothly and accurately carry objects along the curved trajectory.
In order to achieve complex trajectory operations, it is also necessary to establish a kinematic model of the six-axis industrial robot arm. The kinematic model describes the relationship between the movement of each joint of the robot arm and the position and posture of the end effector. Through the kinematic model, the desired end effector trajectory can be converted into the motion trajectory of each joint. In practical applications, trajectory planning is also required, that is, to plan an optimal motion trajectory based on the task requirements and the performance limitations of the robot arm. Trajectory planning needs to consider factors such as motion speed, acceleration, and path smoothness to ensure that the robot arm can complete complex trajectory operations efficiently and stably.
With the continuous development of science and technology, some advanced technologies such as sensor technology and visual recognition technology have also been applied to the six-axis industrial robot arm, further improving its ability to achieve complex trajectory operations. Sensors can sense the motion state of the robot arm and external environmental information in real time, and provide feedback to the control system to achieve more precise motion control. Visual recognition technology can help the robot arm identify the position and posture of the target object, adjust the motion trajectory in real time according to the actual situation, and improve the accuracy and flexibility of the operation. These technologies are combined with the core motion principle and degree of freedom design of the six-axis industrial robot arm, enabling the robot arm to complete various high-precision and high-difficulty complex trajectory operation tasks in more complex environments.
