ZAIXITONGSHANGYOUYOUNEIXIEYOUSHINI

　　HENGJIASHIJIXIESHOU，YOUCHENGSHANGXIALIAOJIQIREN，ANJIEGOUFENZHUYAOYOULIANGDALEI，JIHENGJIASHIJIXIESHOUHEGUANJIESHIJIXIESHOU，QIZHONGHENGJIASHIJIXIESHOUYEJIAOZUOZHIJIAOZUOBIAOJIXIESHOUHELONGMENSHIJIXIESHOU。

　　LONGMENSHIJIQIRENYECHENGZHIJIAOZUOBIAOJIQIRENHUOHENGJIAJIQIREN，NENGGOUSHIXIANZIDONGKONGZHIDE、JIYUKONGJIANXYZZHIJIAOZUOBIAOXIKEZHONGFUBIANCHENGDE、DUOZIYOUDUDE、SHIHEBUTONGRENWUDEZIDONGHUASHEBEI。

　　HENGJIASHIJIXIESHOUYOUXIAODIGAISHANLEZUOYEHUANJING，TIGONGLINGJIANJIAGONGDESHUZIHUA、XINXIHUA、SHAORENHUAZHIZHIWURENHUAGUANLI，KEKAODIBAOZHENGLECHANPINDEZHILIANG，JIDADITIGAOLELAODONGSHENGCHANLV，SHIXIANDAIZHIZAOJISHUDADAOLEYIGEZHANXINDESHUIPING。

　　桁架式机械手在上下料过程中要与机床工作台运动及卡盘的张紧等精确的协调，严格按信号流顺序来控制上下料过程。

　　HENGJIASHIJIXIESHOUZAIFANGXIAJIAGONGHAODELINGJIANHEQUYAOJIAGONGDEXINLINGJIANSHIYEBIXUYUQIPEITAODESHESHIJINGQUETONGBUXIEDIAO。SHUKONGXITONGHESHUKONGJICHUANG，BUJINDIANJI，SIFUDIANJI，QIDONGSHOUZHUADENGXIANGGUANCHANPIN，KEZAIDUANSHIJIANNEIDUIGEGEYUNDONGJIEPAIJINXINGHELIDEANPAIHESHEJI，BAOZHENGHENGJIASHIJIXIESHOUGAOXIAO、XIEDIAO、ANQUAN、ZHANGQIKEKAODIGONGZUO。

　　WEISHIXIANHENGJIASHIJIXIESHOUDELINGHUODUOBIANDEYUNDONGGONGNENG、XUNSUDEFANYINGCHULIGONGNENG，HENGJIASHIJIXIESHOUBIXUYAOYOUYIGEDANAO--KONGZHIXITONG。KONGZHIXITONGDEGONGNENGSHIFACHUYUNDONGZHILING、CHULISHUJU、PANDUANYUNDONGDENG，TAKEYIGENJUBIANHAODECHENGXUSHISHIFACHUKONGZHIZHILING、SHIKEJIESHOUFANKUIXINHAO、SHIKEPANDUANCHULIXINXI。

　　桁架式机械手在作业时，取、放工件和装、卸工件都有较高的定位精度要求，所以在桁架式机械手控制中，除了要对垂直手臂、执行手爪液压缸和腰部步进驱动进行开环控制外，还要对水平手臂进行闭环伺服控制。