The delta robotndi mtundu wa loboti yofananira yomwe imagwiritsidwa ntchito popanga makina opanga mafakitale. Zili ndi mikono itatu yolumikizidwa ku maziko wamba, ndipo mkono uliwonse umakhala ndi maulalo angapo olumikizidwa ndi mfundo. Mikono imayendetsedwa ndi ma motors ndi masensa kuti aziyenda molumikizana, zomwe zimapangitsa kuti loboti igwire ntchito zovuta mwachangu komanso molondola. M'nkhaniyi, tikambirana za momwe makina oyendetsera maloboti a delta amagwirira ntchito, kuphatikiza ma aligorivimu owongolera, masensa, ndi ma actuators.
Control Algorithm
The delta robot's control algorithm ndiye mtima wa control system. Ili ndi udindo wokonza ma siginoloji olowera kuchokera ku masensa a roboti ndikuwamasulira kukhala malamulo oyenda amagetsi. Dongosolo lowongolera limapangidwa pa programmable logic controller (PLC) kapena microcontroller, yomwe imayikidwa mkati mwa makina owongolera a loboti.
Dongosolo lowongolera lili ndi zigawo zazikulu zitatu: kinematics, makonzedwe a trajectory, ndi kuwongolera mayankho. Kinematics imalongosola mgwirizano pakati pawomaloboti olowa ngodya ndi malondi kuyang'ana kwa mapeto a loboti (nthawi zambiri chogwirira kapena chida). Kukonzekera kwa trajectory kumakhudza kupanga malamulo oyenda kuti asunthire loboti kuchokera pomwe ilipo kupita pamalo omwe akufunidwa malinga ndi njira yodziwika. Kuwongolera maganizo kumaphatikizapo kusintha kayendedwe ka robot potengera zizindikiro zakunja (monga kuwerenga kwa sensa) kuonetsetsa kuti loboti ikutsatira njira yomwe ikufunidwa molondola.
Zomverera
Dongosolo lowongolera la delta robotimadalira masensa angapo kuti ayang'anire mbali zosiyanasiyana za momwe loboti imagwirira ntchito, monga momwe ilili, kuthamanga kwake, komanso kuthamanga kwake. Masensa omwe amagwiritsidwa ntchito kwambiri mu maloboti a delta ndi ma encoder optical, omwe amayesa kuzungulira kwa maloboti a maloboti. Masensawa amapereka ndemanga pamayendedwe aang'ono ku ma aligorivimu owongolera, kuwapangitsa kudziwa malo a loboti komanso kuthamanga kwake munthawi yeniyeni.
Mtundu wina wofunikira wa sensa yomwe imagwiritsidwa ntchito mu maloboti a delta ndi masensa okakamiza, omwe amayesa mphamvu ndi ma torque omwe amagwiritsidwa ntchito ndi chomaliza cha loboti. Masensa amenewa amathandiza kuti lobotiyo igwire ntchito zolamuliridwa mwamphamvu, monga kugwira zinthu zosalimba kapena kugwiritsa ntchito mphamvu zenizeni pomanga.
Ma actuators
Dongosolo loyang'anira loboti la delta ndi lomwe limayang'anira kayendedwe ka roboti kudzera mumagulu amagetsi. Ma actuators omwe amagwiritsidwa ntchito kwambiri mu maloboti a delta ndi ma motors amagetsi, omwe amayendetsa ma loboti kudzera pamagiya kapena malamba. Ma motors amawongoleredwa ndi algorithm yowongolera, yomwe imawatumizira malamulo olondola oyenda motengera zomwe zachokera ku masensa a roboti.
Kuphatikiza pa ma motors, maloboti a delta amathanso kugwiritsa ntchito mitundu ina ya ma actuators, monga ma hydraulic kapena pneumatic actuators, kutengera zomwe mukufuna kugwiritsa ntchito.
Pomaliza, makina owongolera a roboti ya delta ndizovuta komanso zokongoletsedwa bwino zomwe zimathandiza lobotiyo kuchita ntchito mwachangu komanso molondola. The control algorithm ndiye mtima wa dongosolo, kukonza ma signature olowa kuchokera ku masensa a loboti ndikuwongolera kayendetsedwe ka roboti kudzera pagulu la ma actuators. Masensa omwe ali mu roboti ya delta amapereka ndemanga pa malo a loboti, kuthamanga kwake, komanso kuthamanga kwake, pomwe ma actuators amayendetsa kayendedwe ka lobotiyo molumikizana. Mwa kuphatikiza ma aligorivimu olondola owongolera ndiukadaulo wapamwamba wa sensor ndi actuator, maloboti a delta akusintha momwe makina opangira mafakitale amachitira.
Nthawi yotumiza: Sep-27-2024
