The Spider Robotnthawi zambiri amatengera kapangidwe kake kotchedwa Parallel Mechanism, komwe ndi maziko a kapangidwe kake. Mawonekedwe a njira zofananira ndikuti maunyolo angapo oyenda (kapena maunyolo anthambi) amalumikizidwa molingana ndi nsanja yokhazikika (m'munsi) ndi nsanja yosunthira (mapeto omaliza), ndipo maunyolo anthambiwa amagwira ntchito nthawi imodzi kuti adziwe malo ndi malingaliro a nsanja yosuntha yokhudzana ndi nsanja yokhazikika.
Mitundu yodziwika bwino yamakina ofananira mumaloboti a kangaude ndi Delta (Δ) Kapangidwe kakakulu ka bungwe makamaka kumakhala ndi magawo awa:
1. Base Plate: Monga maziko othandizira roboti yonse, imakhazikika ndipo nthawi zambiri imalumikizidwa pansi kapena zida zina zothandizira.
2. Mikono Yoseweretsa: Mbali imodzi ya mkono uliwonse wogwira ntchito imakhazikika pa nsanja yokhazikika, ndipo mbali inayo imalumikizidwa ndi ulalo wapakatikati kudzera pa mfundo. Dzanja logwira ntchito nthawi zambiri limayendetsedwa ndi mota yamagetsi (monga servo motor) ndikusinthidwa kukhala njira yolondola kapena yozungulira podutsa njira yochepetsera komanso yopatsira.
3. Kulumikizana: Nthawi zambiri membala wokhazikika wolumikizidwa kumapeto kwa mkono wogwira ntchito, kupanga chimango chotsekedwa cha makona atatu kapena quadrilateral mawonekedwe. Maulalo awa amapereka chithandizo ndi chitsogozo cha nsanja yam'manja.
4. Pulogalamu yam'manja (End Effector): yomwe imadziwikanso kuti mapeto effector, ndi gawo la foni ya kangaude kumene anthu amalumikizana mwachindunji ndi chinthu chogwira ntchito, ndipo akhoza kukhazikitsa zida zosiyanasiyana monga zogwiritsira ntchito, makapu akuyamwa, ma nozzles, ndi zina zotero. imalumikizidwa ndi ulalo wapakati kudzera pa ndodo yolumikizira, ndipo imasintha malo ndi malingaliro mogwirizana ndi kayendedwe ka mkono wogwira.
5. Zophatikizana: Dzanja logwira ntchito limagwirizanitsidwa ndi ulalo wapakati, ndipo ulalo wapakatikati umalumikizidwa ndi nsanja yosunthira kudzera m'magulu ozungulira olondola kwambiri kapena ma hinges a mpira, kuonetsetsa kuti unyolo uliwonse wanthambi ukhoza kuyenda mwaokha komanso mogwirizana.
Kapangidwe kofananira ka thupi ka kangaude kamene kali ndi izi:
Kuthamanga kwakukulu: Chifukwa cha ntchito imodzi yokha ya nthambi zingapo zamakina ofananirako, palibe magawo owonjezera a ufulu panthawi yoyenda, kuchepetsa kutalika ndi kuchuluka kwa unyolo woyenda, potero amakwaniritsa kuyankha kothamanga kwambiri.
Kulondola kwambiri: Zoletsa za geometric za njira zofananira ndizolimba, ndipo kusuntha kwa unyolo uliwonse wanthambi kumatsutsana, zomwe zimathandiza kuti kuwongolera kulondola kwa kuyika mobwerezabwereza. Kudzera m'makina olondola komanso kuwongolera kolondola kwambiri kwa servo, Spider Robot imatha kukwaniritsa kulondola kwamamilimita.
Kukhazikika kwamphamvu: Mapangidwe a ndodo ya katatu kapena ya polygonal ali ndi kukhazikika bwino, amatha kupirira katundu wambiri ndikukhalabe ndi machitidwe abwino, ndipo ndi oyenera kugwiritsira ntchito zinthu zothamanga kwambiri komanso zolondola kwambiri, kusonkhanitsa, kuyang'anira ndi ntchito zina.
Kapangidwe kakang'ono: Poyerekeza ndi njira zingapo (monga mndandandamaloboti asanu ndi limodzi), malo osuntha a njira zofananira amakhazikika pakati pa nsanja zokhazikika ndi zoyenda, zomwe zimapangitsa kuti mawonekedwewo azikhala ophatikizika komanso osatenga malo ochepa, zomwe zimapangitsa kuti zikhale zoyenera kugwira ntchito m'malo ochepa.
Mwachidule, thupi lalikulu la loboti ya kangaude limagwiritsa ntchito njira yofananira, makamaka njira ya Delta, yomwe imapatsa lobotiyo mawonekedwe monga kuthamanga kwambiri, kulondola kwambiri, kulimba kolimba, komanso mawonekedwe ophatikizika, ndikupangitsa kuti izichita bwino pakuyika, kusanja, kusamalira ndi ntchito zina.
Nthawi yotumiza: Apr-26-2024
