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The arm moves linearly in the directions of the three coordinate axes of the rectangular coordinate system, that is, the arm is stretched back forth, up down, left right. This coordinate type occupies a large space, but the working range is relatively small the inertia is large. It is suitable for the case the working positions are arranged in a line.
Cylindrical coordinate formula:
The arm moves back forth, up down, swings in the horizontal plane. Compared with the Cartesian coordinate system, it takes up less space has a larger working range. However, due to the structure of the mechanism, the position in the height direction is restricted.
The arm moves forward backward, pitches up down, moves left right. It is characterized by a simple mechanism to a larger working range can grab objects on the ground. The motion inertia is small, but the error of the arm swing angle will cause amplification through the arm.
The arm is divided into two sections: the forearm the forearm. The elbow joint is connected between the large small arms, the shoulder joint is connected between the large arm the post, the wrist joint between the wrist the forearm is multi-articulated. The manipulator has wide adaptability. After the introduction of computer control, its motion control can be completed by the program.