Poulos

　　The manipulator is mainly composed of three parts: the actuator, the drive mechanism and the control system. The hand is a part used to grasp the workpiece (or tool). According to the shape, size, weight, material and operation requirements of the object to be grasped, it has a variety of structural forms, such as clamping type, holding type and adsorption type, etc. . The movement mechanism enables the hand to complete various rotations (swings), movements or compound movements to achieve prescribed actions and change the position and posture of the object being grasped. The independent movement methods such as lifting, telescoping, and rotating of the movement mechanism are called the degrees of freedom of the manipulator. In order to grab an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter of the manipulator design. The more degrees of freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure. Generally, the dedicated manipulator has 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the manipulator. At the same time, it receives feedback from the sensor to form a stable closed-loop control. The core of the control system is usually made up of micro-control chips such as single-chip microcomputer or dsp, and the required functions are realized through programming.
　　executive agency
　　The actuator of the manipulator is divided into hands, arms, and torso.
　　1, hands
　　The hand is installed on the front end of the arm. The inner hole of the arm is equipped with a transmission shaft, which can transmit the application to the wrist to rotate, stretch the wrist, and open and close the fingers.
　　The structure of the manipulator hand is imitating a human finger, and it is divided into three types: no joints, fixed joints and free joints. The number of fingers can be divided into two fingers, three fingers, and four fingers, among which two fingers are the most used. According to the shape and size of the clamping object, it can be equipped with various shapes and sizes of chucks to meet the needs of the operation. The so-called hands without fingers generally refer to vacuum suction cups or magnetic suction cups.
　　2, arm
　　The function of the arm is to guide the fingers to grasp the workpiece accurately and transport it to the desired position. In order for the manipulator to work correctly, the 3 arms are freely positioned.
　　3. Torso The torso is a bracket for installing arms, power sources and various actuators