Method 1: polar coordinates are the actions of punch manipulator, such as telescoping, pitch and swing. Its most distinctive feature is that the simplified mechanism obtains a larger scope and can grab objects on the ground. Its movement inertia is small, but the arm swing angle deviation will cause the reduction through the arm, so the method of movement is analogous to the ancestors.
Mode two: cylindrical coordinates are the measures for the manipulator to scale, rise and fall, and swing horizontally. Compared with the rectangular coordinates, the occupying space is smaller and the scope of the matter is larger, but the minimum position on the height bias is limited because of the structure of the organization, so that it is not able to capture the objects on the ground, and the inertia is much larger. This is a widely used coordinate situation in the hands of machines, but it also has its bad location.
Mode three: the right angle coordinate is the three coordinate axes of the punch machine hand in the right angle coordinate system, that is, the machine hand successively telescopic, the high and low rise and down, and the att move. This kind of coordinate situation covers a large space, but the scope of events is absolutely small, inertia is large, it is suitable for the situation of things in a straight line.
Mode four: the multiple hubs are just as usual is that the arms will be divided into two sections of the big arm and the small arm, the large arms are connected by the elbow junction between the arms, and the big arm and the column connect to the shoulder junction, and then the wrist junction between the means and the small arm, and the multi hub closet head can achieve a close to the human hand. Measures. Multi hub turn off manipulator moves with little inertia. It can grab the workpiece close to the frame and stop things by bypassing obstacles. The multi hub punch press machine hand has a wide adaptability. After the control of the computer, the control of its measures can be realized by the French style, and it can also be the development bias of the machine hand of the punching machine through the simulation of the process image.