The type of the robot is divided into rectangular coordinates, polarcoordinates type, cylindricalcoordinates, as well as multi-joint type.
机械手分为直角坐标型，极坐标型，圆柱坐标型以及多关节型。
In this paper the four kinds of problems with incident SH waves are studied based on the methods of Conjunction、assistant function and multi-polarcoordinates: Firstly, the ground motion of a semi-cylindrical alluvial valley above a subsurface circular structure is studied;