The truss manipulator is composed of three basic parts: the main body, the drive system and the control system. The robot is divided into a Cartesian coordinate system according to its structure, and the manipulator moves along the two-dimensional Cartesian coordinate system. The main part usually adopts a gantry structure, which is composed of Y-direction beams and guide rails, Z-direction gates, cross slides, columns, transitional connecting plates, bases, etc.
The Z-direction linear motion is an AC servo motor, which drives the gear to roll through a worm gear reducer. The rack is fixed on the Y-direction beam and the Z-direction ram to drive the moving parts to move quickly along the guide rail. The moving parts are a light cross sliding seat and a Z-direction gate, and the gate is made of aluminum alloy profiles. The beam is made of square steel profile, the guide rail and the frame are installed on the beam, and the roller contacts with the guide rail, and the whole manipulator is suspended on the beam.