If there is damage to the packaging, then by all means, open and inspect it. Do not accept a damaged machine without calling the trucking company or broker and understanding your options. If the packaging is unmolested, then go ahead and sign for it.
Not sure how it is being delivered, but always have a few bucks cash on hand. Drivers will normally drop the pallet or machine at the curb, but with a tip they always seem to have time to get it closer to your door!
Remember that internal things can happen too - regardless of the delivery method. Some adjustments or minor fixes may be needed when you set it up.
GL with your first machine!