Robot Spideryawanci yana ɗaukar ƙirar da ake kira Parallel Mechanism, wanda shine tushen babban tsarinsa. Siffar tsarin layi ɗaya shine cewa sarƙoƙi masu motsi da yawa (ko sarƙoƙi na reshe) suna haɗuwa a layi daya zuwa kafaffen dandamali (tushe) da dandamali mai motsi (ƙarshen sakamako), kuma waɗannan sarƙoƙi na reshe suna aiki lokaci guda don sanin matsayi da halayen. dandamali mai motsi dangane da kafaffen dandamali.
Nau'in gama-gari na tsarin layi ɗaya a cikin robots wayar gizo-gizo shine Delta (Δ) Babban tsarin cibiyar ya ƙunshi sassa masu zuwa:
1. Base Plate: A matsayin tushen tallafi na robot gabaɗaya, an daidaita shi kuma yawanci ana haɗa shi da ƙasa ko wasu sifofi masu goyan baya.
2. Actor Arms: Ɗayan ƙarshen kowane hannu mai aiki yana daidaitawa akan kafaffen dandamali, ɗayan kuma an haɗa shi zuwa tsaka-tsakin hanyar haɗin gwiwa ta hanyar haɗin gwiwa. Motar lantarki (kamar servo motor) ne ke motsa hannu mai aiki kuma ana jujjuya shi zuwa madaidaiciyar madaidaiciyar motsi ko motsi ta hanyar ragewa da tsarin watsawa.
3. Haɗin kai: Galibi mamba mai ƙarfi da aka haɗa zuwa ƙarshen hannu mai aiki, yana kafa rufaffiyar firam na alwatika ko siffa huɗu. Waɗannan haɗin gwiwar suna ba da tallafi da jagora ga dandalin wayar hannu.
4. Mobile platform (End Effector): wanda kuma aka sani da end effector, shine bangaren wayar gizo-gizo inda mutane kai tsaye suke mu'amala da abun aiki, kuma suna iya shigar da kayan aiki daban-daban kamar grippers, kofuna na tsotsa, nozzles, da dai sauransu. Dandalin wayar hannu. an haɗa shi zuwa tsakiyar hanyar haɗin kai ta hanyar haɗin kai, kuma yana canza matsayi da hali tare da motsi na hannu mai aiki.
5. Haɗuwa: An haɗa hannu mai aiki zuwa tsaka-tsakin tsaka-tsakin, kuma an haɗa haɗin tsaka-tsaki zuwa dandamali mai motsi ta hanyar madaidaicin jujjuyawar jujjuya ko ƙwallon ƙwallon ƙafa, yana tabbatar da cewa kowane sarkar reshe na iya motsawa da kansa da jituwa.
Tsarin tsarin layi ɗaya na jikin ɗan adam na wayar gizo-gizo yana da fa'idodi masu zuwa:
Babban gudun: Saboda aiki na lokaci guda na rassan da yawa na tsarin layi na layi, babu wani nau'i mai yawa na 'yanci a lokacin aikin motsa jiki, rage tsayi da yawa na sarkar motsi, don haka samun amsawar motsi mai sauri.
Babban madaidaici: Matsalolin geometric na hanyoyin daidaitawa suna da ƙarfi, kuma motsi na kowane sarkar reshe yana da alaƙa da juna, wanda ke da haɓaka daidaiton matsayi mai maimaitawa. Ta hanyar madaidaicin ƙira na inji da ingantaccen sarrafa servo, Spider Robot na iya cimma daidaiton matakin matakin millimeter.
Ƙarfin ƙarfi mai ƙarfi: Tsarin igiya mai haɗaɗɗiya na triangular ko polygonal yana da tsattsauran ra'ayi mai kyau, yana iya jurewa babban nauyi kuma yana kula da kyakkyawan aiki mai ƙarfi, kuma ya dace da babban saurin sauri da ingantaccen kayan aiki, taro, dubawa da sauran ayyuka.
Karamin tsari: Idan aka kwatanta da tsarin tsari (kamar jerinshida axis mutummutumi), Matsayin motsi na hanyoyin daidaitawa yana mai da hankali tsakanin kafaffen dandamali da dandamali na wayar hannu, yana sa tsarin gabaɗaya ya zama mafi ƙanƙanta da mamaye ƙasa kaɗan, yana sa ya dace musamman don aiki a cikin iyakokin sararin samaniya.
A taƙaice, babban jikin mutum-mutumin wayar gizo-gizo ya ɗauki nau'in tsari mai kama da juna, musamman ma na'urar Delta, wanda ke ba wa mutum-mutumin halaye irin su babban gudu, tsayin daka, tsauri mai ƙarfi, da ƙaramin tsari, yana sa ya yi kyau a cikin marufi. warwarewa, handling da sauran aikace-aikace.
Lokacin aikawa: Afrilu-26-2024
