Imashini y'igitagangurirwamubisanzwe ifata igishushanyo cyitwa Parallel Mechanism, niyo shingiro ryimiterere yingenzi. Ikiranga uburyo bubangikanye ni uko iminyururu myinshi yimikorere (cyangwa iminyururu yishami) ihujwe kuburinganire na platifomu ihamye (base) hamwe na platifomu yimuka (effekt ya nyuma), kandi iyi minyururu yishami ikora icyarimwe kugirango ihuze icyerekezo hamwe n imyifatire ya kwimuka urubuga ugereranije na platform ihamye.
Ubwoko busanzwe bwuburyo bubangikanye murirobot y'igitagangurirwani Delta（Δ）Imiterere nyamukuru yikigo igizwe ahanini nibice bikurikira:
1. Isahani fatizo: Nka fondasiyo yo gushyigikira robot yose, irakosowe kandi mubisanzwe ihujwe nubutaka cyangwa izindi nyubako zishyigikira.
2. Acumurezi Intwaro: Impera imwe ya buri kiganza gikora gishyizwe kumurongo uhamye, naho ubundi impera ihujwe no guhuza hagati binyuze mumutwe. Ukuboko gukora cyane gutwarwa na moteri yamashanyarazi (nka moteri ya servo) hanyuma igahinduka umurongo ugororotse cyangwa kuzenguruka binyuze muburyo bwo kugabanya no kohereza.
3. Ihuza ritanga inkunga nubuyobozi kurubuga rwa mobile.
4. Ihuriro rya mobile (End Effector): rizwi kandi nka end effector, ni igice cya terefone yigitagangurirwa aho abantu bahura neza nakazi kakazi, kandi barashobora gushiraho ibikoresho bitandukanye nka grippers, ibikombe byo guswera, nozzles, nibindi. ihujwe no guhuza hagati binyuze mu nkoni ihuza, kandi ihindura imyanya n'imyifatire hamwe no kugenda kwamaboko akora.
5. Guhuriza hamwe: Ukuboko gukomeye guhuzwa nu murongo wo hagati, kandi ihuriro rito rihuzwa na platifomu igenda binyuze mu buryo bunoze bwo kuzunguruka cyangwa guhuza imipira, kwemeza ko buri munyururu w’ishami ushobora kugenda wigenga kandi uhuza.
Igishushanyo mbonera cya parike yumubiri wumuntu wigitagangurirwa gifite ibyiza bikurikira:
Umuvuduko mwinshi: Bitewe no gukora icyarimwe amashami menshi yuburyo bubangikanye, nta ntera irenze yubwisanzure mugihe cyimikorere, kugabanya uburebure nuburemere bwurunigi rwimikorere, bityo bikagera kubisubizo byihuse.
Ubusobanuro buhanitse: Inzitizi ya geometrike yuburyo bubangikanye irakomeye, kandi kugenda kwa buri munyururu wishami birahujwe, ibyo bikaba bifasha kunoza neza aho imyanya ihagaze. Binyuze mubishushanyo mbonera bya tekinike hamwe na servo ihanitse cyane,Imashini y'igitagangurirwaIrashobora kugera kuri milimetero urwego rwukuri.
Gukomera gukomeye: Imiterere ya mpandeshatu cyangwa polygonal ihuza inkoni ifite ubukana bwiza, irashobora kwihanganira imizigo myinshi kandi igakomeza imikorere myiza, kandi irakwiriye gukoreshwa byihuse kandi byihuse, gutunganya, guteranya, kugenzura nibindi bikorwa.
Imiterere ihuriweho: Ugereranije nuburyo bukurikirana (nkurukurikirane rwibintu bitandatu bya robo), umwanya wimikorere yuburyo bubangikanye wibanze hagati yimikorere ihamye kandi igendanwa, bigatuma imiterere rusange irushaho gukomera no gufata umwanya muto, bigatuma bikwiranye cyane no gukorera mumwanya muto ibidukikije.
Muncamake, umubiri wingenzi wa terefone yigitagangurirwaigishushanyo mbonera, cyane cyane uburyo bwa Delta, butanga robot nibiranga nkumuvuduko mwinshi, ubudasobanutse neza, gukomera gukomeye, hamwe nuburyo bworoshye, bigatuma ikora neza mugupakira, gutondeka, gutunganya no mubindi bikorwa.
Igihe cyo kohereza: Gicurasi-14-2024
