Vuam robots feem ntau muaj ob ntu: tus neeg hlau nws tus kheej thiab cov khoom siv vuam. Cov neeg hlau muaj xws li lub cev neeg hlau thiab lub txee tswj (khoom siv thiab software). Cov cuab yeej siv vuam, siv cov vuam arc thiab qhov chaw vuam raws li piv txwv, muaj lub vuam fais fab (nrog rau nws cov kev tswj hwm), lub tshuab xaim (rau arc vuam), thiab vuam teeb (los yog clamp). Cov neeg hlau txawj ntse kuj tseem yuav tsum muaj qhov ntsuas qhov ntsuas, xws li laser lossis lub koob yees duab sensors thiab lawv cov khoom siv tswj. Nyob rau hauv xyoo tas los no, humanoid vuam robots tau tsim los ua ib qho kev tsim qauv tshiab. Lawv lub hauv paus tseem ceeb yog kev tsim kho ntawm "cerebellum" kev tswj hwm lub cev, ua ke nrog lub cev bionic thiab peb lub cev: kev ua tiav, kev nkag siab thiab kev txiav txim siab- ua, thiab kev txawj ntse vuam. Lub hom phiaj yog txhawm rau txhim kho vuam raug thiab ua haujlwm tau zoo thiab hloov mus rau txoj kev lag luam nyuaj.
Welding robots uas tsim tawm thoob ntiaj teb yog cov neeg hlau feem ntau hais lus, nrog rau feem coob muaj rau axes. Axes 1, 2, thiab 3 tuaj yeem txav qhov kawg cuam tshuam mus rau qhov sib txawv ntawm qhov chaw, thaum axes 4, 5, thiab 6 nyob ntawm cov cuab yeej sib txawv. Cov qauv siv tshuab ntawm lub vuam neeg hlau lub cev feem ntau siv ob hom: tus qauv parallelogram thiab ib sab -mounted (swinging) qauv. Lub ntsiab kom zoo dua ntawm ib sab -mounted (swinging) qauv yog qhov loj ntawm cov lus tsa suab ntawm sab sauv thiab sab caj npab, tso cai rau tus neeg hlau qhov chaw ua haujlwm yuav luag txog qhov loj ntawm ib tus kheej kheej. Yog li ntawd, hom neeg hlau no tuaj yeem ua haujlwm rov qab rau ntawm tus ncej, txuag chaw hauv pem teb thiab yooj yim rau kev txav ntawm cov khoom hauv av. Txawm li cas los xij, hom sab no- mounted neeg hlau muaj cov qauv cantilever rau nws 2nd thiab 3rd axes, txo cov neeg hlau rigidity. Nws yog feem ntau haum rau cov neeg hlau nrog cov khoom me me, siv rau arc vuam, txiav, lossis txau. Ib tug parallelogram neeg hlau lub caj npab sab sauv yog tsav los ntawm ib tug lever. Lub lever thiab sab caj npab tsim ob sab ntawm ib qho parallelogram, li no lub npe. Thaum ntxov parallelogram robots muaj qhov chaw ua haujlwm me me (tsuas yog nyob rau pem hauv ntej ntawm tus neeg hlau), ua rau sab laug- ua haujlwm nyuaj. Txawm li cas los xij, tshiab parallelogram robots (cov neeg hlau sib txuas) tau tsim los txij li xyoo 1980s tau nthuav dav qhov chaw ua haujlwm rau sab saum toj, rov qab, thiab hauv qab ntawm cov neeg hlau, tsis muaj teeb meem nruj ntawm sab - cov neeg hlau mounted, yog li tau txais kev mloog zoo. Cov qauv no haum rau ob lub teeb thiab hnyav robots. Nyob rau hauv xyoo tas los no, feem ntau qhov chaw vuam robots (load muaj peev xwm 100-150kg) tau txais ib tug qauv parallelogram.
Ob hom neeg hlau tau piav qhia saum toj no suav nrog cov lus tsa suab ntawm txhua axes, yog li siv servo motors uas tau tsav los ntawm cycloidal pinwheel (RV) reducers (axes 1-3) thiab harmonic reducers (axes 1-6). Ua ntej nruab nrab xyoo 1980, cov tshuab hluav taws xob siv hluav taws xob siv DC servo motors, tab sis txij li xyoo 1980s lig, ntau lub teb chaws tau hloov mus rau AC servo motors. Vim tias AC motors tsis muaj txhuam thiab muaj cov yam ntxwv zoo tshaj plaws, cov neeg hlau tshiab tsis yog tsuas yog muaj kev sib tsoo qis xwb tab sis kuj tseem ua rau muaj kev saib xyuas tsis pub dhau lub sijhawm thiab nrawm nrawm / qeeb. Qee cov neeg hlau tshiab uas muaj peev xwm thauj khoom hauv qab 16kg tuaj yeem ua tiav qhov siab tshaj plaws qhov chaw taw tes (TCP) ceev tshaj 3m / s, nrog qhov tseeb qhov chaw thiab kev co tsawg. Ib txhij, cov neeg hlau tswj txee tau hloov kho mus rau 32-ntsis microcomputer thiab algorithms tshiab, ua rau nws tuaj yeem ua kom zoo dua nws txoj hauv kev, ua rau muaj kev sib tw uas zoo ib yam li txoj kev qhia.
