The manipulator is mainly composed of actuator, driving mechanism and control system. Hand is used to grasp the workpiece (or tool) parts, according to the grabbed objects shape, size, weight, materials and work requirements and there are a variety of structural forms, such as holding type, holding type and adsorption type.

The manipulator function introduction 1, the resolution, in the manipulator function, the precision is often easy to confuse with the resolution, the position repeat precision. The resolution of the manipulator is determined by the system design parameters and is affected by the performance of the position feedback detection unit. At the same time, the resolution is divided into programming resolution and control resolution. Programming resolution refers to the program can be set in the smallest distance units, also known as the base resolution. For example, when the motor rotates 0.1 and the robotic wrist point (the tip of the arm) moves a straight line distance of 0.01 mm, the reference resolution is 0.01 mm. The control resolution is the minimum displacement that can be detected by the position feedback loop. For example: If the 1,000-pulse-per-cycle incremental optical disc is coaxially installed with the motor, the motor emits one pulse per 0.36 rpm (360) / 1000rpm, so the angle change below 0.36 can not be detected, the control resolution of the system is 0.36. When the programming resolution is equal to the control resolution, the system resolution is the highest, both of which are called the system resolution.

2. Accuracy, the final accuracy of the manipulator mainly depends on mechanical error, control Algorithm and system resolution. The mechanical error mainly results from the transmission error, the joint clearance and the flexibility of linkage. Transmission error is caused by gear tooth error, pitch error, joint clearance is caused by bearing clearance, harmonic tooth clearance, etc. .

3. Position repeatability accuracy, position repeatability accuracy is statistical data about accuracy. Any manipulator, even in the same environment, the same conditions, the same action, the same command, each action can not be exactly the same position, there will be a certain error. But the error of the manipulator can be controlled within a certain range. When testing the position repeatability accuracy of manipulator, the more times of repeated test, the more accurate the position repeatability evaluation is. Because the position repeatability accuracy is not affected by the load change. Therefore, the accuracy of position repetition is usually used as an important indicator of the level of the manipulator in teaching / reproduction mode.