Robot components mainly include core types such as actuators, reducers, sensors, motors, lead screws, and bearings.
These components collectively constitute the robot's "skeleton," "muscles," and "nervous system," enabling motion, perception, and control functions. The following is a detailed description of the main types:
1. Actuator: The actuator is the power source of the robot's motion system, divided into rotary actuators and linear actuators, responsible for driving joints to complete movements.
Rotary Actuator: Used in rotary joints such as the shoulder and hip, composed of a frameless torque motor, harmonic reducer, encoder, torque sensor, etc.
Linear Actuator: Used in linear motion parts such as the elbow and knee, converting rotary motion into linear motion through a planetary roller lead screw.
2. Reducer: The reducer is used to reduce motor speed and increase output torque, acting as the "joint" of the robot.
Harmonic Reducer: Small in size and high in precision, widely used in the forearms, wrists, and other delicate manipulation parts of humanoid robots. RV reducer: Complex structure, high load-bearing capacity, mostly used in heavy-duty industrial robot bases or arms.
Planetary reducer: High transmission efficiency, long lifespan, suitable for high-load scenarios.
3. Sensors Sensors give robots environmental perception capabilities, equivalent to "touch" and a "nervous system".
Force/torque sensor: Enables force control and collision detection; a six-dimensional force sensor can simultaneously measure three-axis force and torque.
Encoder: Provides feedback on motor speed and position, determining the accuracy of the servo system; photoelectric encoders are the most widely used.
Tactile sensor: Integrated into the dexterous hand, enabling precise grasping and force feedback.
