Raws li lawv cov qauv siv tshuab thiab cov yam ntxwv ntawm kev txav, cov neeg hlau muaj peev xwm muab faib ua peb pawg: serial, parallel, thiab hybrid serial -cov neeg hlau sib txuas. Ntau hom kev lag luam robots muaj cov yam ntxwv sib txawv ntawm qhov chaw ua haujlwm, txoj hauv kev txav, thiab cov xwm txheej siv tau.
Serial mechanisms yog qhib saw mechanisms uas muaj cov kev sib txuas thiab cov pob qij txha txuas ua ke los ntawm lub hauv paus. Cov serial robots xws li kev sib koom tes robots thiab articulated robots. Coordinate robots txhais lawv qhov chaw ua haujlwm los ntawm kev sib xyaw ntawm cov kab thiab cov rotary axes, haum rau kev khiav hauj lwm meej raws txoj kev ruaj khov; thaum articulated robots ua tiav qhov loj - ntau yam thiab txoj kev ua haujlwm nyuaj los ntawm kev txav mus los ntawm ntau lub pob qij txha, ua rau lawv tsim nyog rau cov haujlwm uas yuav tsum tau ua kom yooj yim thiab ntau qib ntawm kev ywj pheej.
Parallel mechanisms raug kaw- lub voj voog cov txheej txheem uas lub platform txav thiab lub platform nyob ruaj khov txuas nrog tsawg kawg ob txoj hlua sib txuas kinematic thiab tau tsav nyob rau hauv tib lub sijhawm. Cov neeg hlau zoo sib xws suav nrog Delta robots, Stewart robots, thiab tsib -bar robots. Parallel robots muaj ib tug complex qauv ntau dua serial robots, nrog Delta robots yog cov feem ntau siv nyob rau hauv industrial daim ntaub ntawv.
Hybrid serial -cov neeg hlau sib txuas ua ke ua ke qhov zoo ntawm ob qho tib si serial thiab cov neeg hlau sib txuas. Lawv organically sib xyaw ua ke ntau yam ntawm cov lus tsa suab ntawm serial mechanisms nrog lub siab precision thiab rigidity ntawm parallel mechanisms, ua tiav qhov yooj yim, siab precision, thiab siab load peev xwm nyob rau hauv peb - qhov chaw seem.
Cov txheej txheem sib txawv ntawm kev lag luam robots muaj qhov sib txawv hauv kev tsim khoom. Hauv kev siv tswv yim, hom tsim nyog feem ntau yog xaiv raws li cov yam ntxwv ntawm kev ua haujlwm, spatial layout, thiab cov txheej txheem yuav tsum ua kom muaj txiaj ntsig zoo thiab ruaj khov zoo ntawm cov neeg hlau hauv kev tsim khoom.
