Mhando dzezviito zvemarobhoti zvinogona kunyanya kukamurwa kuita zviito zvakabatana, mutsara zviito, A-arc zviito, uye C-arc zviito, chimwe nechimwe chine basa rayo chairo uye mamiriro ekushandisa:
1. Joint Motion(J):
Joint motion imhando yechiito umo robhoti rinofamba richienda kunzvimbo yakatarwa nekuzvimiririra kudzora makona eakisi yejoini yega yega. Mukufamba kwakabatana, marobhoti haana hanya nezve nzira kubva painotangira kusvika kune inotangwa, asi zvakananga gadzirisa makona eiyo axis yega yega kuti uwane iyo inotarirwa chinzvimbo.
Basa: Kufamba kwakabatana kwakakodzera mamiriro ezvinhu apo robhoti inoda kukurumidza kuendeswa kune imwe nzvimbo pasina kufunga nezve nzira. Iwo anowanzo shandiswa kuisa robhoti isati yatanga mashandiro chaiwo kana mumamiriro ezvinhu akaomarara uko kudzora kwetrajectory kusingadiwi.
2. Linear Motion(L):
Mutsara (linear action) zvinoreva kufamba chaiko kwerobhoti kubva pane imwe nzvimbo kuenda pane imwe nenzira yakatsetseka. Mukufamba kwemutsara, iyo yekupedzisira effector (TCP) yerobhoti chishandiso ichatevera mutsara trajectory, kunyangwe iyo trajectory isiri-mutsara munzvimbo yakabatana.
Basa: Linear kufamba kunowanzo shandiswa mumamiriro ezvinhu apo maoparesheni chaiwo anoda kuitwa nenzira yakatwasuka, senge welding, kucheka, kupenda, nezvimwe, nekuti maoparesheni aya anowanzoda kuguma kwechishandiso kuchengetedza kutungamira uye hukama hwechinzvimbo pane work surface.
3. Arc Motion (A):
Kufamba kwakakombama (curved motion) zvinoreva nzira yekuita denderedzwa nepakati (transition point). Mune rudzi urwu rwechiito, robhoti ichafamba kubva painotangira kuenda kunzvimbo yekuchinja, uye wozodhirowa arc kubva panzvimbo yekuchinja kusvika kumagumo.
Basa: Iyo Arc chiito chinowanzo shandiswa mumamiriro ezvinhu apo arc nzira yekutonga inodiwa, senge mamwe mabasa ekushongedza uye ekupukuta, uko kusarudzwa kwenzvimbo dzekuchinja kunogona kukwidziridza kufamba kwakatsetseka uye nekukurumidza.
4. Circular Arc Motion(C):
Chiito cheC arc ikufamba kwedenderedzwa kunoitwa nekutsanangura nzvimbo dzekutanga uye dzekupedzisira dzearc, pamwe nenzvimbo yekuwedzera (poindi yekupfuura) pane arc. Iyi nzira inobvumira kudzora kwakanyatsojeka kweiyo arc nzira, sezvo isingavimbe nemapoinzi ekuchinja senge A-arc chiito.
Basa: Iyo C arc chiito inokodzerawo mabasa anoda arc trajectories, asi kana ichienzaniswa neA arc chiito, inogona kupa yakanyatso kudzora arc uye yakakodzera kune chaiyo machining mabasa ane yakasimba zvinodikanwa kune arc nzira. Mhando yega yega yechiito ine mabhenefiti ayo uye anoshanda mamiriro, uye kana marobhoti ekuronga, zvinodikanwa kuti usarudze yakafanira chiito mhando zvichienderana nezvinodiwa zvekushandisa.
Majoint movements akakodzera kukurumidza kumira, ukuwo mutsara uye denderedzwa mafambiro akakodzera mashandiro chaiwo anoda kudzora nzira. Nekubatanidza aya marudzi ekuita, marobhoti anogona kupedzisa kutevedzana kwebasa rakaoma uye kuwana yakakwirira-chaiyo otomatiki kugadzirwa.
Nguva yekutumira: Jul-29-2024
