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Chapter 5 Robot Hardware Composition
Figure 5-1 EC66 robot system
As shown in Figure 5-1, the EC63 collaborative robot system mainly consists of the robot body,
the control box (multiple types of the control boxs are optional), the base and the teach pendant. The
robot body imitates the arm of human body, and totally has six rotating joints and each representing
one degree of freedom. As shown in Figure 5-2, the robot joint includes a substrate (joint 1), a
shoulder (joint 2), an elbow (joint 3), a wrist 1 (joint 4), a wrist 2 (joint 5) and a wrist 3 (joint 6). The
substrate is used to connect the robot body with the base, and the tool/end effector is used to connect
the robot with the tool. Arm tube connection between shoulder and elbow and between elbow and
wrist. Through the operation interface of the teach pendant or dragged teach pendant, the user may
control each joint to rotate, in this way the end/tool effector of the robot can be moved to the desired
different poses.
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