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 muri robot ya terefone nigitagangurirwa ni Delta （Δ structure 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. Intwaro zabakinnyi: Impera imwe ya buri kuboko ikora yashyizwe kumurongo uhamye, naho iyindi mpera 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 no kugenzura neza-servo, Imashini yigitagangurirwa irashobora 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 yegeranye: Ugereranije nuburyo bukurikirana (nkurukurikiranerobot esheshatu).
Muri make, umubiri wingenzi wa robo ya terefone yigitagangurirwa ikoresha uburyo bubangikanye, cyane cyane uburyo bwa Delta, butanga robot nibiranga nkumuvuduko mwinshi, ubuziranenge bukomeye, gukomera gukomeye, hamwe nuburyo bworoshye, bigatuma ikora neza mubipakira, gutondeka, gutunganya nibindi bikorwa.
Igihe cyo kohereza: Apr-26-2024
