機(jī)械手臂通常由3~7個(gè)關(guān)節(jié)組成，關(guān)節(jié)數(shù)量的多少取決于機(jī)械手臂的設(shè)計(jì)和用途。

A robotic arm typically consists of 3-7 joints, and the number of joints depends on the design and purpose of the robotic arm.

　　一、機(jī)械手臂是什么？

1、 What is a robotic arm?

　　機(jī)械手臂是一種運(yùn)動(dòng)自由度較高、能夠模擬人手動(dòng)作的機(jī)電設(shè)備。它由多個(gè)關(guān)節(jié)、動(dòng)力、控制系統(tǒng)、執(zhí)行器和傳感器等部件組成，可以實(shí)現(xiàn)復(fù)雜的動(dòng)作，代替人工完成生產(chǎn)或服務(wù)任務(wù)。機(jī)械手臂廣泛應(yīng)用于自動(dòng)化生產(chǎn)、倉儲物流、醫(yī)療護(hù)理、交通運(yùn)輸?shù)阮I(lǐng)域。

A robotic arm is an electromechanical device with high degrees of motion and the ability to simulate human hand movements. It consists of multiple joints, power, control systems, actuators, sensors, and other components, which can achieve complex actions and replace manual production or service tasks. Mechanical arms are widely used in fields such as automated production, warehousing and logistics, medical care, and transportation.

　　二、機(jī)械手臂的關(guān)節(jié)構(gòu)成

2、 Joint composition of robotic arms

　　機(jī)械手臂由多個(gè)關(guān)節(jié)和運(yùn)動(dòng)軸組成，每個(gè)關(guān)節(jié)及運(yùn)動(dòng)軸都有不同的運(yùn)動(dòng)方式和限制。通常，機(jī)械手臂的關(guān)節(jié)數(shù)量在3~7個(gè)左右，關(guān)節(jié)數(shù)量的多少取決于機(jī)械手臂的設(shè)計(jì)和用途。以下是幾種常見機(jī)械手臂的關(guān)節(jié)構(gòu)成：

A robotic arm consists of multiple joints and motion axes, each with different motion modes and limitations. Usually, the number of joints in a robotic arm is around 3-7, and the number of joints depends on the design and purpose of the robotic arm. The following are the joint compositions of several common robotic arms:

　　1. 3自由度幾何結(jié)構(gòu)：由3個(gè)旋轉(zhuǎn)關(guān)節(jié)構(gòu)成，每個(gè)關(guān)節(jié)繞不同的軸轉(zhuǎn)動(dòng)，可以在3個(gè)方向上實(shí)現(xiàn)運(yùn)動(dòng)。

1. 3 degrees of freedom geometric structure: composed of 3 rotating joints, each joint rotates around different axes and can achieve motion in 3 directions.

　　2. SCARA型機(jī)械手臂：由3或4個(gè)關(guān)節(jié)組成，即1個(gè)旋轉(zhuǎn)關(guān)節(jié)和2或3個(gè)平移關(guān)節(jié)，可實(shí)現(xiàn)水平平移、垂直上下、旋轉(zhuǎn)和伸縮等多種運(yùn)動(dòng)。

2. SCARA type robotic arm: composed of 3 or 4 joints, namely 1 rotary joint and 2 or 3 translational joints, it can achieve various movements such as horizontal translation, vertical up and down, rotation, and extension.

　　3. 6軸機(jī)械手臂：由6個(gè)關(guān)節(jié)構(gòu)成，分別為旋轉(zhuǎn)關(guān)節(jié)和伸直關(guān)節(jié)，可實(shí)現(xiàn)6個(gè)自由度的運(yùn)動(dòng)，機(jī)械手臂在X、Y、Z三個(gè)方向上分別具有旋轉(zhuǎn)和伸縮的能力。

3. 6-axis robotic arm: composed of 6 joints, namely rotation joint and extension joint, capable of achieving 6 degrees of freedom of movement. The robotic arm has the ability to rotate and stretch in the X, Y, and Z directions.

　　三、機(jī)械手臂關(guān)節(jié)的功能

3、 The function of robotic arm joints

　　機(jī)械手臂的每個(gè)關(guān)節(jié)都有特定的功能和工作原理：

Each joint of a robotic arm has specific functions and working principles:

　　1. 旋轉(zhuǎn)關(guān)節(jié)：可以實(shí)現(xiàn)繞一個(gè)軸的旋轉(zhuǎn)運(yùn)動(dòng)，如3自由度幾何結(jié)構(gòu)和6軸機(jī)械手臂的關(guān)節(jié)。

1. Rotary joint: It can achieve rotational motion around an axis, such as the joint of a 3-degree-of-freedom geometric structure and a 6-axis robotic arm.

　　2. 平移關(guān)節(jié)：可以實(shí)現(xiàn)沿一個(gè)方向的直線運(yùn)動(dòng)，如SCARA型機(jī)械手臂的關(guān)節(jié)，可用來控制機(jī)械臂的平移和伸縮。

2. Translation joint: It can achieve linear motion in one direction, such as the joint of SCARA type robotic arm, which can be used to control the translation and extension of the robotic arm.

　　3. 伸直關(guān)節(jié)：通常用于6軸機(jī)械手臂上，可以實(shí)現(xiàn)機(jī)械臂在Z軸上的伸縮運(yùn)動(dòng)，使機(jī)械臂能夠在不同位置和高度上取得物品。

3. Elongation joint: usually used on 6-axis robotic arms, it can achieve the extension and contraction movement of the robotic arm on the Z-axis, allowing the robotic arm to obtain objects at different positions and heights.

　　四、總結(jié)

4、 Summary

　　機(jī)械手臂是自動(dòng)化生產(chǎn)和服務(wù)中不可或缺的設(shè)備，在實(shí)際應(yīng)用中具有廣泛的優(yōu)勢。了解機(jī)械手臂的關(guān)節(jié)構(gòu)成和功能對于設(shè)計(jì)和維護(hù)機(jī)械手臂都非常重要。

Mechanical arms are indispensable equipment in automated production and services, and have broad advantages in practical applications. Understanding the joint composition and function of robotic arms is crucial for designing and maintaining them.

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