The mechanical unit consists of a fabricated structural frame with provisions for supporting mechanical linkage and joints, guides, actuators, control valves, limiting devices, and sensors. The physical dimensions, design, and loading capability of the robot depend upon the application requirements. Drive Most new robots use electric drives. Pneumatic drives have been used for high speed, nonservo robots and are often used for powering tooling such as grippers. Hydraulic drives have been used for heavier lift systems, typically where accuracy was not also required.
Most industrial robots incorporate computer or microprocessor-based controllers.
These perform computational functions and interface with and control sensors, grippers, tooling, and other peripheral equipment. The control system also performs sequencing and memory functions associated with communication and interfacing for on-line sensing, branching, and integration of other equipment. Robot controllers can have self-diagnostic capability, which can reduce the downtime of robot systems. In addition, the robot controller may be in a control hierarchy in which it receives instructions and reports positions or gives directions. Robot manufacturers typically use proprietary languages for programming robot controllers and systems.