ABB Control Board YPP110A 3ASD573001A1 Negotiation YPK112A 3ASD573001A13

Description

YPK112A Common Kinematic Configurations
Picture 1 Cartesian operating arm
Advantages of YPK112A: It is easy to achieve high precision through computer control. Disadvantages: it hinders the work, occupies a large area, has low movement speed and poor sealing.

① Welding, handling, loading and unloading, packaging, stacking, destacking, detection, flaw detection, classification, assembly, labeling, code spraying, code printing, (soft copy) spraying, target following, explosive elimination, etc.
② It is especially suitable for flexible operation with multiple varieties and batches. It plays a very important role in stabilizing, improving product quality, improving labor productivity, improving labor conditions and rapidly updating products.
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Picture 2. Hinged operating arm (joint type)
The joints of YPK112A joint robot are all rotating, similar to human arm, and the most common structure in industrial robots. Its scope of work is complex.
① Rapid inspection and product development of auto parts, molds, sheet metal parts, plastic products, sports equipment, glass products, ceramics, aviation, etc.
② CMM measurement and error detection for manufacturing quality control of body assembly, general mechanical assembly, etc.
③ Rapid prototyping of antiques, artworks, sculptures, cartoon character modeling, portrait products, etc.
④ Field measurement and detection of the whole vehicle.
⑤ Body shape measurement, bone and other medical equipment production, body shape production, medical plastic surgery, etc.
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Picture 3. SCARA operating arm
SCARA robots are commonly used in assembly operations. The most significant feature is that their motion on the x-y plane has greater flexibility, while along the z-axis has strong rigidity. Therefore, it has selective flexibility. This kind of robot has obtained good application in assembly work.
① It is widely used to assemble printed circuit boards and electronic components
② Moving and placing objects, such as integrated circuit boards
③ It is widely used in plastic industry, automobile industry, electronic product industry, pharmaceutical industry and food industry
④ Parts handling and assembly work.
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Picture 4. Spherical coordinate type operating arm
Features: The working range near the central support is large, the two rotating drive devices are easy to seal, and the working space is large. However, the coordinates are complex and difficult to control, and the linear drive device has the problem of sealing.
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Picture 5. Cylindrical coordinate type operating arm
Advantages: simple calculation; The linear part can be driven by hydraulic pressure, which can output greater power; It can reach into the cavity type machine. Disadvantages: The space that its arm can reach is limited, and it cannot reach the space near the column or the ground;
The linear drive part is difficult to seal and prevent dust; When the rear arm works, the rear end of the arm will touch other objects within the working range.
6. Redundant mechanism
Usually, six degrees of freedom are needed for spatial positioning, and the use of additional joints can help the mechanism avoid singular configurations. The figure below shows the configuration of 7-DOF operating arm
Picture 7. Closed loop structure
The closed loop structure can improve the stiffness of the mechanism, but it will reduce the range of joint motion and the workspace.
① Motion simulator;
② Parallel machine tool;
③ Micromanipulation robot;
④ Force sensor;
⑤ Cell manipulation robot in biomedical engineering can realize cell injection and segmentation;
⑥ Microsurgery robot;
⑦ Attitude adjustment device of large radio astronomical telescope;
⑧ Hybrid equipment, such as the Tricept hybrid manipulator module of SMT, is a successful example of modular design based on parallel mechanism units.

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