Imashini ya deltani ubwoko bwa robot ibangikanye ikoreshwa muburyo bwo gutangiza inganda. Igizwe namaboko atatu ahujwe nifatizo rusange, hamwe na buri kuboko kugizwe nurukurikirane rwihuza ruhujwe ningingo. Amaboko agenzurwa na moteri na sensor kugirango bigende neza, bigafasha robot gukora imirimo igoye kandi yihuse. Muri iki kiganiro, tuzaganira ku mikorere yibanze ya sisitemu yo kugenzura robot ya delta, harimo kugenzura algorithm, sensor, hamwe na moteri.
Kugenzura Algorithm
Igenzura rya robot ya delta ni umutima wa sisitemu yo kugenzura. Irashinzwe gutunganya ibimenyetso byinjira biva kuri sensor ya robot no kubihindura mumabwiriza yimikorere ya moteri. Igenzura rya algorithm rikorwa kuri porogaramu ishobora gukoreshwa (PLC) cyangwa microcontroller, yashyizwe muri sisitemu yo kugenzura robot.
Igenzura algorithm igizwe nibice bitatu byingenzi: kinematika, gutegura inzira, no kugenzura ibitekerezo. Kinematics isobanura isano iri hagatiimpande zombi za robo hamwe nu mwanyan'icyerekezo cya robo-iherezo (mubisanzwe ifata cyangwa igikoresho). Igenamigambi ryerekanwa ryerekeranye nigisekuru cyimikorere yo kwimura robot kuva aho ihagaze kugeza kumwanya wifuza ukurikije inzira yihariye. Kugenzura ibitekerezo bikubiyemo guhindura imikorere ya robo ishingiye ku bimenyetso byatanzwe hanze (urugero: ibyasomwe na sensor) kugirango umenye neza ko robot ikurikira inzira yifuza neza.
Sensors
Sisitemu yo kugenzura robotYishingikirije kumurongo wa sensor kugirango ikurikirane ibintu bitandukanye byimikorere ya robo, nkumwanya wacyo, umuvuduko, nihuta. Ibyuma bikoreshwa cyane muri robot ya delta ni kodegisi ya optique, ipima kuzenguruka kwingingo za robo. Izi sensor zitanga imyanya yibitekerezo kuri algorithm igenzura, ikabasha kumenya aho robot ihagaze n'umuvuduko mugihe nyacyo.
Ubundi bwoko bwingenzi bwa sensor ikoreshwa muri robot ya delta ni sensor sensor, zipima imbaraga na torque zikoreshwa na end-effekt ya robot. Ibyo byuma bifasha robot gukora imirimo igenzurwa nimbaraga, nko gufata ibintu byoroshye cyangwa gukoresha imbaraga zuzuye mugihe cyo guterana.
Abakoresha
Sisitemu yo kugenzura robot ya delta ishinzwe kugenzura imigendekere yimashini binyuze mumikorere. Imikorere ikoreshwa cyane muri robot ya delta ni moteri yamashanyarazi, itwara ingingo ya robo ikoresheje ibikoresho cyangwa umukandara. Moteri igenzurwa na algorithm igenzura, ibohereza amategeko yimikorere ashingiye kubyo yinjiye muri sensor ya robot.
Usibye moteri, robot ya delta irashobora kandi gukoresha ubundi bwoko bwimikorere, nka hydraulic cyangwa pneumatic actuator, bitewe nibisabwa byihariye bisabwa.
Mu gusoza, sisitemu yo kugenzura robot ya delta ni sisitemu igoye kandi itezimbere cyane ituma robot ikora imirimo ifite umuvuduko mwinshi kandi neza. Igenzura rya algorithm ni umutima wa sisitemu, gutunganya ibimenyetso byinjira biva mu byuma byerekana ibyuma bya robo no kugenzura imikorere ya robo binyuze mu bikorwa. Ibyuma byifashishwa muri robot ya delta bitanga ibitekerezo kumyanya ya robo, umuvuduko, nihuta, mugihe abayikora batwara robot muburyo bukomatanyije. Muguhuza kugenzura neza algorithms hamwe na sensor igezweho hamwe na tekinoroji ikora, robot ya delta ihindura uburyo bwo gutangiza inganda bikorwa.
Igihe cyo kohereza: Nzeri-27-2024
