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Industrial robots refer to multi-degree-of-freedom mechanical devices that operate in industrial production environments through automatic control and repeatable programming, and can perform automated tasks such as handling, assembly, welding, spraying, and inspection. They are usually used as equipment to replace human labor in manufacturing systems to undertake repetitive and highly precise tasks with strict requirements. Industrial robots possess certain program flexibility and motion flexibility. Their mechanical structure, drive mechanism, and control system work together to enable them to accurately and stably complete tasks in complex industrial environments.

As the basic equipment in the modern manufacturing system, the application of industrial robots has expanded globally from traditional scenarios such as assembly line handling and arc welding to more complex industrial tasks such as sorting, inspection, palletizing, and automatic loading and unloading of machine tools. Industrial robots have been widely used in 52 major industry categories and 143 sub-categories, covering fields like automobiles, electronics, metallurgy, light industry, petrochemicals, and pharmaceuticals. Compared with traditional fixed automated equipment, industrial robots have significant advantages in terms of operational flexibility, adaptability, and versatility. They can quickly switch tasks by replacing the end effector and adjusting the program, and can adapt to the manufacturing demands of multi-variety and small-batch production modes.

Industrial robots play a crucial role in promoting the automation and intelligence transformation of the manufacturing industry. Industrial robots have made progress in industrial cooperation and application expansion in emerging technologies such as embodied intelligence. The related technologies have jointly promoted the development of specialized robots for scenarios such as public safety.

Industrial robots are typically composed of three major parts and six subsystems. The three major parts are the mechanical part, the sensing part, and the control part. The six subsystems can be divided into the mechanical structure system, the drive system, the sensing system, the robot-environment interaction system, the human-machine interaction system, and the control system. 

The mechanical structure system, from the perspective of mechanical structure, industrial robots are generally divided into serial robots and parallel robots. The characteristics of serial robots is that the movement of one axis changes the coordinate origin of another axis, while parallel robots do not change the coordinate origin of another axis with one axis movement. Early industrial robots all adopted serial mechanisms. Parallel mechanisms are defined as the moving platform and the fixed platform are connected through at least two independent motion chains, and the mechanism has two or more degrees of freedom and is driven in a parallel manner as a closed-loop mechanism. Parallel mechanisms have two components, namely the wrist and the arm. The arm's activity area has a significant impact on the working space, while the wrist is the connection part between the tool and the main body. Compared with serial robots, parallel robots have the advantages of high stiffness, stable structure, large carrying capacity, high micro-motion accuracy, and low motion load. In terms of position solution, the forward solution of serial robots is easy, but the reverse solution is very difficult; while for parallel robots, the opposite is true, that is, the forward solution is difficult, but the reverse solution is very easy. 

The drive system is responsible for providing power support to each joint of the robot, usually consisting of motors, reduction mechanisms, and transmission components, and its performance has a significant impact on the speed response, motion stability, and positioning accuracy of the robot. The control system is the core component of industrial robots, mainly used to execute program instructions, coordinate the movement of each joint, and manage input and output signals to achieve unified control of the robot's motion trajectory, posture, and operation process. 

The sensing system is used to obtain the robot's own state and the information of the working environment, including position, speed, force, or external environmental characteristics, and provides feedback basis for the control system. Through the introduction of sensing information, industrial robots can maintain stable operation in complex conditions and to a certain extent, optimize the operation process. The end effector is the component that directly contacts the workpiece or tool of the industrial robot, its form varies according to the operation task, such as grippers, welding guns, spray guns, or special tooling, and is an important interface for implementing specific industrial operations. 

The robot-environment interaction system is a system that realizes the connection and coordination between the robot and the equipment in the external environment. The robot and the external equipment are integrated into a functional unit, such as a processing and manufacturing unit, a welding unit, or an assembly unit. It can also be multiple robots integrated into a functional unit to perform complex tasks. 

The human-machine interaction system is a device for communication and participation in robot control by humans. For example: standard terminals, command consoles, information display boards, and danger signal alarms. 

The control system's task is to control the robot's execution mechanism to complete the prescribed movements and functions according to the robot's operation instructions and the signals returned from the sensors. If the robot does not have the feature of information feedback, it is an open-loop control system; if it has the feature of information feedback, it is a closed-loop control system. According to the control principle, it can be divided into program control systems, adaptive control systems, and artificial intelligence control systems. According to the form of control movement, it can be divided into point position control and continuous trajectory control.