液压机械手的控制方式

1、液压驱动式：液压驱动式机械手一般由液动机、伺服阀、油泵、油箱等组成驱动系统，由驱动机械手施行组织进行作业。一般它的具有很大的抓举才调，其特点是结构紧凑、动作平稳、耐冲击、耐颤抖、防爆性好，但液压元件要求有较高的制作精度和密封功用，不然漏油将污染环境。

Hydraulic drive type: Hydraulic driving manipulator generally by liquid motive, servo valve, oil pump, fuel tank and other components of the drive system, driven by the implementation of the robot manipulator operations. Generally it has a very large snatch, its characteristics are compact structure, smooth movement, impact resistance, trembling, good explosion-proof, but the hydraulic components require a higher precision and sealing function, otherwise the oil spill will pollute the environment.

2、气压驱动式：气压驱动系统一般由气缸、气阀、气罐和空压机组成，其特点是气源便利、动作活络、结构简略、造价较低、修补便利。但难以进行速度操控，气压不可太高，故抓举才调较低。液压机械手的控制方式

Pneumatic drive: Pneumatic drive system is generally composed of cylinder, valve, gas tank and air compressor, which is characterized by convenient gas source, movement, simple structure, low cost, convenient repair. But it is difficult to speed control, pressure should not be too high, so the snatch was lowered. 　　

3、电气驱动式：冲床冲压机械手电力驱动是使用得最多的一种驱动方式。其特点是电源便利，照料快，驱动力较，信号检测、传动、处理便利，并可选用多种活络的操控方案。驱动电机一般选用步进电机，直流伺服电机为首要的驱动方式。由于电机速度高，一般须选用减速组织，如谐波传动、RV摆线针轮传动、齿轮传动、螺旋传动和多杆组织等。选用无减速组织的大转矩、低转速电机进行直接驱动，这既可使组织简化，又可跋涉操控精度。 液压机械手的控制方式

Electric drive: Punching manipulator Power Drive is one of the most used driving mode. Its characteristics are power convenience, care fast, driving force, signal detection, transmission, processing facilities, and can choose a variety of activating control program. Drive motor General Selection Stepper motor, DC servo motor as the primary driving mode. Because of the high speed of motor, it is generally necessary to select deceleration organization, such as Harmonic drive, RV cycloid Drive, gear transmission, screw transmission and multi bar organization. The use of large torque and low speed motor without deceleration organization is directly driven, which can simplify the organization and make the operation precision.

4、机械驱动式：机械驱动只用于动作固定的场合。一般用凸轮连杆组织来结束规则的动作。其特点是动作确实可靠，作业速度高，成本低，但不易于调整。

Mechanical drive: Mechanical drive only for the occasion of fixed action. It is generally used to end the regular movement of the cam-link organization. Its characteristic is the movement is reliable, the operation speed is high, the cost is low, but is not easy to adjust.