液压机械手坐标

目前市场上的机械手形式较多，但是如果按照手臂的坐标形式而言，主要有四种基本形式，直角坐标式机械手、圆柱坐标式机械手、球坐标式机械手和关节式机械手，今天冲压机械手厂家的技术人员就为大家解读一下这四种机械手的特点。

At present, there are many forms of manipulator in the market, but if the coordinates of the arm are concerned, there are four basic forms, the Cartesian coordinate manipulator, the cylindrical coordinate manipulator, the ball coordinate manipulator and the joint type manipulator. Today, the technicians of the punching manipulator manufacturers interpret these four kinds of machines. The characteristics of the arms.

直角坐标式机械手是适合于工作位置成行排列或传送带配合使用的一种机械手。它的手臂可以伸缩，左右和上下移动，按直角坐标形式x、y、z三个方向的直线进行运动。其工作范围可以是一个直线运动、两个直线运动或是三个直线运动。如在x、y、z三个直线运动方向上各具有a 、b、c三个回转运动，即构成六个自由度，也就是我们常说的六轴关节机械手。

The rectangular coordinate manipulator is a manipulator suitable for working position arrangement or conveyor belt. Its arms can be telescopic, moving around and up and down, moving in a straight line in three directions, x, y and Z. The scope of its work can be a linear motion, two straight lines or three straight lines. For example, in the direction of three linear motion of X, y and Z, each has three rotational motions of a, B and C, that is, six degrees of freedom, that is, the six axis joint manipulator that we often say.

圆柱坐标式机械手是应用最多的一种形式，它适用于搬运和测量工件。具有直观性好、结构简单、本体占用的空间较小的特点。其动作范围可分为：一个旋转运动，一个直线运动加一个不在直线运动所在平面内的旋转运动，两个直线运动加一个旋转运动。

Cylindrical coordinate manipulator is the most widely used form. It is suitable for handling and measuring workpieces. The utility model has the advantages of good intuition, simple structure and small space occupied by the ontology. The motion range can be divided into a rotating motion, a linear motion plus a rotation motion that is not in the plane of the straight line, and the two straight motion plus a rotating motion.

球坐标式机械手是一种自由度较多、用途较广的机械手。球坐标式机械手的工作范围包括一个旋转运动、两个旋转运动、两个旋转运动加一个直线运动。

Spherical coordinate manipulator is a kind of manipulator with many degrees of freedom and wide use. The spherical coordinate manipulator includes a rotating motion, two rotating motions, two rotating motions and a straight line motion.

关节式机械手是一种适用于靠近机体操作的传动形式。它像人手一样有肘关节，可实现多个自由度，动作比较灵活，适于在狭窄空间工作。

Articulated manipulator is a type of transmission suitable for operation close to the body. It has elbow joints, like human hands, which can achieve multiple degrees of freedom, flexible and suitable for working in narrow space.