Design and Research of Automatic Tool Changer System for Multistation Spring Forming Machine

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td class="align_left">Parameter</td><td class="align_center"><i>θ</i><sub>1</sub> (°)</td><td class="align_center"><i>θ</i><sub>2</sub> (°)</td><td class="align_center"><i>d</i><sub>2</sub> (mm)</td><td class="align_center"><i>d</i><sub>3</sub> (mm)</td><td class="align_center"><i>d</i><sub>4</sub> (mm)</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td class="align_left">Lower limit of value</td><td class="align_center">0</td><td class="align_center">0</td><td class="align_center">115</td><td class="align_center">60.5</td><td class="align_center">350</td></tr><tr><td class="align_left">Upper limit of value</td><td class="align_center">90</td><td class="align_center">360</td><td class="align_center">115</td><td class="align_center">150.5</td><td class="align_center">450</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The value range of D-H parameters.</div>

Journal of Robotics

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Table 2

Table 2: Design and Research of Automatic Tool Changer System for Multistation Spring Forming Machine 