Тема 7. Виконавча система. Приводи механізмів

[music] [music] Hello, friends. Today we will begin to consider the executive system of robots and focus in more detail on the issue of driving their mechanisms. As noted earlier, robots can be divided into two groups by their main function: mobile platforms and manipulators. Accordingly, the executive system of mobile robots is a movement mechanism, a

mobile chassis, and the manipulator is a manipulation mechanism or simply a manipulator. Combined-type robots have both mechanisms at once: a manipulator and a mobile chassis. A typical example of a mobile robot's locomotion mechanism is shown on the current slide. It is a mobile chassis of wheeled, tracked, rail or walking type, driven by a drive, in most

cases of an electric type. The drive includes an engine and a transmission or gearing. And this is a typical example of a manipulator, which consists of a manipulation system support, a gripping device, and a drive. In a manipulation system, there is usually a hand that provides movement in the working area of ​​the

manipulated object, as well as a hand that positions it. A gripping device is attached to the brush, which directly grasps the object being manipulated. Both types of mechanisms are actuated by a drive. The drive converts energy from the power source into mechanical movement of the robot's actuators in accordance with command signals coming from the

control system. In general, the drive includes an engine and a transmission, which consists of transmission mechanisms. The type of drive is determined by the type of energy carrier. Robot designs use pneumatic, hydraulic, electric, and combined drives. In the early stages of robotics development, most robots were pneumatically or hydraulically powered. However, recently, electric drive has been mainly used. The