1. Nooca Haydarooliga Wadin: Gacmaha ay wadaan haydarooliga sida caadiga ah waxay ka kooban yihiin habka wadista ka kooban hawo-qaadayaasha ( cylinders kala duwan, matoorrada Haydarooliga), servo valves, bambooyinka saliidda, iyo haamaha saliidda. Dabeecadaha ayaa markaa qabanaya shaqada. Caadi ahaan waxay leeyihiin awood weyn oo wax qaadis ah (ilaa dhowr boqol oo kiilo ama ka badan). Sifooyinkooda waxaa ka mid ah qaab dhismeed is haysta, hawlgal siman, saamaynta iyo iska caabinta gariirka, iyo qarax wanaagsan-waxqabad caddayn. Si kastaba ha noqotee, qaybaha hydraulic waxay u baahan yihiin saxnaanta wax soo saarka sare iyo waxqabadka xiritaanka; haddii kale, saliidda daadataa waxay wasakhaysaa deegaanka.
2. Nooca Wadista ee Pneumatic: Habka wadista wuxuu caadi ahaan ka kooban yahay dhululubada, valves, haamaha hawada, iyo kombaresarada hawada. Sifooyinkeeda waxaa ka mid ah sahayda hawada ku habboon, hawlgal degdeg ah, qaab dhismeedka fudud, kharash yar, iyo dayactir fudud. Si kastaba ha ahaatee, xakamaynta xawaaruhu waa adag tahay, cadaadiska hawaduna ma noqon karo mid aad u sarreeya, taasoo keentay awoodda wax-qaadista hoose.
3. Nooca Korontada Ku Wadid: Wadida Korontadu waa habka ugu badan ee loo isticmaalo wadida gacmaha robotka. Sifooyinkeeda waxaa ka mid ah koronto ku habboon, jawaab celin degdeg ah, xoog weyn oo wadista (noocyada isku dhafan waxay kor u qaadi karaan ilaa 400 kg), ogaanshaha calaamadaha habboon, gudbinta, iyo farsamaynta, iyo awoodda lagu shaqaaleysiiyo nidaamyada xakamaynta dabacsan ee kala duwan. Matoorka wadadu guud ahaan waxa uu isticmaalaa motoor jaranjaro ah, iyada oo matoorada DC servo (AC) uu yahay habka wadista aasaasiga ah. Xawaaraha sare ee mootada awgeed, habka dhimista ayaa badanaa loo baahan yahay (sida wada shaqaynta wada dhaxaysa, RV cycloidal pinwheel drive, gear drive, screw drive, iyo multi-qaabka bar). Qaar ka mid ah hubka robotka ayaa bilaabay in ay isticmaalaan -torque, hoose{8}}matoorada xawaaraha sare leh iyada oo aan la dhimin hababka loo wado wadista tooska ah (DD), kaas oo fududeeya habka oo wanaajiya saxnaanta xakamaynta.
4. Mechanical Drive Type: Mechanical drives kaliya waxaa loo isticmaalaa xaaladaha halka falku go'an yahay. Kaamirada -Qaabka isku xidhka ayaa guud ahaan loo adeegsadaa si loo gaadho ficilka la cayimay. Sifooyinkeedu waa ficil la isku halayn karo, xawaare hawleed oo sarreeya, iyo qiimo jaban, laakiin ma fududa in la hagaajiyo.
