Classification by mechanical structure
1, serial robot: the movement of one axis changes the coordinate origin of the other axis. Like a six-joint robot.
2. Parallel robot: the movement of one axis does not affect the coordinate origin of the other axis, such as spider robot.
2. Classification according to the coordinate form of the manipulator.
1. The arm of the cylindrical coordinate robot can move up and down, back and forth.
2. The arm of the spherical coordinate robot can rotate, pitch and extend;
3. The arm of multi-joint robot has multiple rotating joints.
4. The axes of the planar joint robot are parallel to each other to realize in-plane positioning and orientation;
5. The arm of Cartesian robot can move along three Cartesian coordinates;
Classification by program input mode
1. Programming input robot: The programming input robot transmits the programming operation program files on the computer to the robot control cabinet through RS232 serial port or Ethernet.
2. Teaching the input robot: There are two ways to teach the input robot. One is that the operator uses the manual controller (teaching control box) to transmit instruction signals to the driving system, so that the actuator can run once according to the required action sequence and trajectory. The other is that the operator directly leads the actuator and executes it according to the required action sequence and trajectory. At the same time of teaching, the information of working program is automatically stored in program memory. When the robot works automatically, the control system detects the corresponding information from the program memory and transmits the instruction signal to the driving mechanism, so that the executing mechanism can reproduce the various actions taught.