桁(heng)(heng)架機(ji)械手又(you)稱為桁(heng)(heng)架機(ji)器(qi)(qi)人，它是(shi)建立在直角(jiao)X，Y，Z三(san)坐標系統基礎(chu)上，對工(gong)(gong)(gong)件進行(xing)工(gong)(gong)(gong)位調(diao)整，或實(shi)現(xian)(xian)工(gong)(gong)(gong)件的(de)(de)軌跡運(yun)動(dong)(dong)等功能(neng)的(de)(de)全自動(dong)(dong)工(gong)(gong)(gong)業(ye)設(she)備。其控(kong)制(zhi)(zhi)核(he)心通(tong)過(guo)工(gong)(gong)(gong)業(ye)控(kong)制(zhi)(zhi)器(qi)(qi)（如：PLC，運(yun)動(dong)(dong)控(kong)制(zhi)(zhi)，單片機(ji)等）實(shi)現(xian)(xian)。通(tong)過(guo)控(kong)制(zhi)(zhi)器(qi)(qi)對各種(zhong)輸(shu)入（各種(zhong)傳感器(qi)(qi)，按鈕等）信號的(de)(de)分(fen)析處理，做(zuo)出(chu)一定(ding)的(de)(de)邏(luo)輯(ji)判斷(duan)后，對各個輸(shu)出(chu)元件（繼電(dian)(dian)器(qi)(qi)，電(dian)(dian)機(ji)驅動(dong)(dong)器(qi)(qi)，指(zhi)示燈等）下達執行(xing)命令，完成(cheng)X，Y，Z三(san)軸之間的(de)(de)聯合運(yun)動(dong)(dong)，以此實(shi)現(xian)(xian)一整套的(de)(de)全自動(dong)(dong)作業(ye)流程。

       桁架機械手的三大部分

       1.主(zhu)體

       桁架機(ji)(ji)(ji)械手(shou)(shou)的(de)主(zhu)體部分，多為龍門式(shi)結構(gou)，主(zhu)要由基座(zuo)、十字滑(hua)座(zuo)、過(guo)渡連接板、z向滑(hua)枕(zhen)、y向橫(heng)梁(liang)、立柱以及導(dao)軌(gui)等組成(cheng)。交流伺服電動(dong)(dong)機(ji)(ji)(ji)借助蝸輪減速器(qi)來驅動(dong)(dong)齒輪與z向滑(hua)枕(zhen)、y向橫(heng)梁(liang)上(shang)固(gu)定(ding)的(de)齒條進行滑(hua)動(dong)(dong)，從而實(shi)現(xian)在z向上(shang)的(de)直(zhi)線運(yun)動(dong)(dong)，并驅動(dong)(dong)z向滑(hua)枕(zhen)、十字滑(hua)座(zuo)等質量較輕的(de)移動(dong)(dong)部件沿(yan)著導(dao)軌(gui)進行快速運(yun)動(dong)(dong)。滑(hua)枕(zhen)多為鋁合金拉制型(xing)材(cai)，橫(heng)梁(liang)多為方鋼型(xing)材(cai)，將齒條、導(dao)軌(gui)安(an)裝在橫(heng)梁(liang)上(shang)，通(tong)過(guo)導(dao)軌(gui)與滾輪的(de)接觸，使得(de)桁架機(ji)(ji)(ji)械手(shou)(shou)懸掛在橫(heng)梁(liang)上(shang)。

       2.控(kong)制系統

       對于桁架機(ji)械手來(lai)(lai)說(shuo)，其控(kong)(kong)制(zhi)核心主要(yao)通(tong)過(guo)各種工業控(kong)(kong)制(zhi)器(qi)(qi)來(lai)(lai)得(de)以(yi)實現，如單片機(ji)、運動(dong)控(kong)(kong)制(zhi)或(huo)者是(shi)PLC等(deng)。借助控(kong)(kong)制(zhi)器(qi)(qi)，對按鈕、各種傳(chuan)感器(qi)(qi)等(deng)提供的(de)(de)輸(shu)入信號進行(xing)(xing)分析處(chu)理，經(jing)過(guo)相應邏輯(ji)判斷之后，對指示燈、電(dian)動(dong)驅動(dong)器(qi)(qi)或(huo)繼(ji)電(dian)器(qi)(qi)等(deng)各種輸(shu)出元件下達(da)執行(xing)(xing)命令，使桁架機(ji)械手完成(cheng)X軸、Y軸、Z軸的(de)(de)聯合運動(dong)，從而實現一整套作業流程的(de)(de)全自動(dong)化。控(kong)(kong)制(zhi)系統(tong)的(de)(de)有效(xiao)運算，是(shi)實現桁架機(ji)械手高效(xiao)運行(xing)(xing)的(de)(de)重要(yao)前提。

       3.驅動部件/驅動系統(tong)

       桁(heng)架機械手(shou)的(de)(de)各部分，均設有(you)執行機構，可(ke)以是(shi)手(shou)指，也可(ke)以是(shi)手(shou)臂，主(zhu)要負責確(que)定(ding)物料的(de)(de)抓取(qu)角度、裝夾物料。同時，也要具備驅(qu)(qu)動機構，來帶動分結構的(de)(de)運動，目前桁(heng)架機械手(shou)的(de)(de)常見驅(qu)(qu)動方(fang)式(shi)主(zhu)要包(bao)括電動式(shi)驅(qu)(qu)動、氣動式(shi)驅(qu)(qu)動、液壓式(shi)驅(qu)(qu)動等多種(zhong)方(fang)式(shi)。