Igishushanyo mbonera cya roboKugena imikorere yacyo, imikorere, nubunini bwa porogaramu. Imashini za robo zigizwe nibice byinshi, buri kimwe gifite imikorere ninshingano byihariye. Ibikurikira nuburyo busanzwe bwa robot igizwe nimirimo ya buri gice:
1. Umubiri / Chassis
Igisobanuro: Urwego nyamukuru rwa robo ikoreshwa mugushigikira no guhuza ibindi bice.
Ibikoresho: Imbaraga nyinshi zivanze, plastike, cyangwa ibikoresho byinshi bikoreshwa.
• Imikorere:
• Shigikira kandi urinde ibice by'imbere.
Tanga umusingi wo gushiraho ibindi bice.
Menya neza ko gukomera no gukomera kumiterere rusange.
2. Guhuza / Abakinnyi
Igisobanuro: Ibice byimuka bifasha robot kugenda.
• Ubwoko:
Amashanyarazi: akoreshwa mukuzunguruka.
Hydraulic actuator: ikoreshwa mubikorwa bisaba umuriro mwinshi.
Pneumatic actuators: ikoreshwa mubikorwa bisaba igisubizo cyihuse.
Servo Motors: ikoreshwa muburyo buhanitse.
• Imikorere:
Menya urujya n'uruza rwa robo.
Igenzura umuvuduko, icyerekezo, nimbaraga zo kugenda.
3. Sensors
Igisobanuro: Igikoresho gikoreshwa mu kumenya ibidukikije byo hanze cyangwa imiterere yacyo.
• Ubwoko:
Umwanya Sensors: nka kodegisi, ikoreshwa mugutahura imyanya ihuriweho.
Imbaraga / Umuyoboro wa Torque: Byakoreshejwe mugushakisha imbaraga zo guhuza.
Amashusho agaragara / Kamera: Yifashishijwe mu kumenyekanisha amashusho no kumva ibidukikije.
Ibyuma byerekana intera, nkaibyuma bya ultrasonic na LiDAR, zikoreshwa mu gupima intera.
Ibyuma byubushyuhe: bikoreshwa mugukurikirana ubushyuhe bwibidukikije cyangwa imbere.
Ibyumviro bya Tactile: Byakoreshejwe mukwumva gukoraho.
Igice cyo gupima inertial (IMU): gikoreshwa mugushakisha umuvuduko n'umuvuduko.
• Imikorere:
Tanga amakuru kumikoranire hagati ya robo nibidukikije byo hanze.
Menya ubushobozi bwimyumvire ya robo.
4. Sisitemu yo kugenzura
Igisobanuro: Icyuma na sisitemu ishinzwe kwakira amakuru ya sensor, gutunganya amakuru, no gutanga amabwiriza kubakoresha.
• Ibigize:
Igice cyo gutunganya hagati (CPU): Gutunganya imirimo yo kubara.
Kwibuka: Kubika gahunda namakuru.
Iyinjiza / Ibisohoka Isohora: Huza sensor na actuator.
Module y'Itumanaho: Shyira mu bikorwa itumanaho hamwe nibindi bikoresho.
Porogaramu: harimo sisitemu y'imikorere, abashoferi, kugenzura algorithms, nibindi.
• Imikorere:
• Kugenzura imikorere ya robo.
Menya neza ubwenge bwo gufata ibyemezo bya robo.
• Guhana amakuru hamwe na sisitemu yo hanze.
5. Sisitemu yo gutanga amashanyarazi
Igisobanuro: Igikoresho gitanga ingufu kuri robo.
• Ubwoko:
Batteri: Bikunze gukoreshwa kuri robo zigendanwa.
Amashanyarazi ya AC: Bikunze gukoreshwa kuri robo zihamye.
DC Amashanyarazi: Birakwiriye mubihe bisaba voltage ihamye.
• Imikorere:
Tanga imbaraga kuri robo.
Gucunga ingufu no kubika.
6. Sisitemu yo kohereza
Igisobanuro: Sisitemu ihererekanya imbaraga ziva mubikorwa bikora ibice byimuka.
• Ubwoko:
Kohereza ibikoresho: Byakoreshejwe muguhindura umuvuduko na torque.
Gukwirakwiza umukandara: Byakoreshejwe mu kohereza imbaraga intera ndende.
Ihererekanyabubasha: Bikwiranye nibibazo bisaba kwizerwa cyane.
Ikwirakwizwa rya Mugozi: Gukoreshwa kumurongo.
• Imikorere:
Hindura imbaraga za actuator kubice byimuka.
Menya ihinduka ryihuta na torque.
7. Gukoresha
Igisobanuro: Imiterere ya mashini ikoreshwa mugukora imirimo yihariye.
• Ibigize:
• Ihuriro: Kugera ku nzego nyinshi zubwisanzure.
Impera zanyuma: zikoreshwa mugukora imirimo yihariye nka grippers, ibikombe byo guswera, nibindi.
• Imikorere:
• Kugera kubintu bifatika no gufata.
• Uzuza imirimo igoye.
8. Ihuriro rya mobile
Igisobanuro: Igice gifasha robot kugenda yigenga.
• Ubwoko:
Ikiziga: Birakwiriye hejuru yubuso.
Ikurikiranwa: Birakwiriye kubutaka bugoye.
Amaguru: Birakwiriye kubutaka butandukanye.
• Imikorere:
Menya kugenda kwigenga kwa robo.
Hindura ibikorwa bitandukanye byakazi.
incamake
Igishushanyo mbonera cya roboni inzira igoye ikubiyemo ubumenyi n'ikoranabuhanga biva mubyiciro byinshi. Imashini yuzuye isanzwe igizwe numubiri, ingingo, sensor, sisitemu yo kugenzura, sisitemu yingufu, sisitemu yo kohereza, ukuboko kwa robo, hamwe na platform igendanwa. Buri gice gifite imikorere ninshingano byihariye, bigahuriza hamwe bigena imikorere nubunini bwo gukoresha robot. Igishushanyo mbonera cyubaka kirashobora gutuma robot zigera kubikorwa byiza muburyo bwihariye bwo gukoresha.
Igihe cyo kohereza: Ukwakira-18-2024
