机械臂分类及选型逻辑研究

Research on Classification and Type Selection of Manipulator

通过对机械臂进行分类,分析各类机械臂的优缺点、应用场景,制定机械臂的选型逻辑流程,以满足机械臂的选型需求,促进对机械臂全方位多角度的了解。选择机械臂类型时,依次选择机械臂类型、安装环境、工作环境、有效负载、工作空间、定位精度、重复定位精度、末端最大运行速度、本体重量、刹车功能、寿命、机械接口、电气接口、通讯协议、人机接口等要求,充分考虑IP防护等级、洁净度要求、防爆等级、工作环境的温湿度、噪声等要求。除此之外,还要重点考虑成本、交期、维修、保养与认证。

This paper classifies the types of the manipulators,analyzes the advantages,disadvantages and application of various types of manipulators,formulates the logic process of manipulator type selection,in order to meet the requirements of manipulator selection and promote comprehensive understanding of the manipulator.Selection of the type of manipulator shall be carried out in the sequence of type of manipulator,installation environment,working environment,effective load,working space,positioning accuracy,repositioning accuracy,maximum final operating speed,body weight,braking function,service life,mechanical interface,electrical interface,communication protocol,HMI interface and so on,and sufficient consideration shall be taken on IP protection level,cleanliness requirement,explosion-proof level,temperature and humidity of the working environment,noise and other requirements.In addition,cost,delivery time,repair,maintenance and certification shall also be considered.