The Spider Robotkazhinji inotora dhizaini inonzi Parallel Mechanism, inova hwaro hwechimiro chayo chikuru. Chimiro chemaitiro akafanana ndechekuti macheni akawanda ekufamba (kana cheni dzemapazi) akabatanidzwa mukufanana kune yakagadziriswa chikuva (base) uye chikuva chekufamba (end effector), uye aya maketani ebazi anoita panguva imwe chete kuti aone pamwe chete chinzvimbo uye maitiro eiyo. kufambisa chikuva chinoenderana neyakagadzika chikuva.
Rudzi rwakajairika rweparallel mechanism muspider marobhotindiye Delta(Δ)Chimiro chikuru chesangano chinonyanya kuve nezvikamu zvinotevera:
1. Base Plate: Senheyo yekutsigira yerobhoti yose, inogadziriswa uye inowanzobatanidzwa pasi kana zvimwe zvivako zvinotsigira.
2. Actuator Maoko: Imwe magumo ega ega ruoko runoshanda inomiswa papuratifomu yakagadziriswa, uye imwe magumo yakabatana kune yepakati link kuburikidza nejoinhi. Ruoko runoshanda runowanzo fambiswa nemota yemagetsi (senge servo mota) uye inoshandurwa kuita chaiyo mutsara kana inotenderera inofamba kuburikidza neinoderedza uye nzira yekufambisa.
3. Kubatana: Kazhinji nhengo yakasimba yakabatana kusvika kumagumo eruoko runoshanda, ichiita yakavharwa furemu ye triangle kana quadrilateral shape. Izvi zvinongedzo zvinopa rutsigiro uye kutungamira kune mobile platform.
4. Nharembozha yepuratifomu (End Effector): inozivikanwawo sekuguma kwekuita, chikamu che spider foni apo vanhu vanopindirana zvakananga nechinhu chebasa, uye vanogona kuisa zvishandiso zvakasiyana-siyana zvakadai se grippers, suction cups, nozzles, etc. The mobile platform yakabatana nepakati link kuburikidza netambo yekubatanidza, uye inoshandura chinzvimbo uye maitiro synchronously nekufamba kweruoko runoshanda.
5. Majoini: Ruoko runoshanda rwakabatanidzwa kune chinongedzo chepakati, uye chinongedzo chepakati chakabatana nepuratifomu inofamba kuburikidza nepamusoro-chaiyo rotary majoini kana bhora hinges, kuve nechokwadi chekuti ketani yega yega yebazi inogona kufamba yakazvimirira uye yakabatana.
Iyo yakafanana dhizaini dhizaini yemuviri wemunhu yespider foni ine zvinotevera zvakanakira:
Kumhanya kwepamusoro: Nekuda kwekushanda panguva imwe chete yematavi akawanda eiyo parallel mechanism, hapana madhigirii akawandisa erusununguko panguva yekufamba, kuderedza kureba uye kuwanda kweketani yekufamba, nekudaro kuwana yakakwirira-kumhanya kwekufamba mhinduro.
Kunyatsojeka kwepamusoro: Zvipingamupinyi zvejometri zvemaitiro akafanana zvakasimba, uye kufamba kweketani yebazi rimwe nerimwe kunosungirirwa, izvo zvinobatsira pakuvandudza kururamisa kwekudzokororwa kwekugadzirisa. Kuburikidza nechaiyo mechanika dhizaini uye yakakwirira-chaiyo servo control,Spider Robotinogona kuwana sub millimeter level yekumisikidza kurongeka.
Strong rigidity: Iyo triangular kana polygonal yekubatanidza tsvimbo chimiro ine yakanaka kusimba, inogona kumira mitoro yakakwira uye inochengetedza kuita kwakanaka kwesimba, uye inokodzera yakakwirira-kumhanya uye yakakwirira-chaiyo yekubata zvinhu, kusangana, kuongorora uye mamwe mabasa.
Chimiro chakakomberedzwa: Kana ichienzaniswa neyakatevedzana nzira (senge akatevedzana matanhatu axis marobhoti), iyo inofamba nzvimbo yeaxis masisitimu yakatarisana pakati peyakagadziriswa uye inofambiswa mapuratifomu, zvichiita kuti chimiro chese ive compact uye kutora nzvimbo shoma, ichiita kuti inyanyokodzera kushanda munzvimbo ine nzvimbo shoma. nharaunda.
Muchidimbu, muviri mukuru wespider foni robhoti inotoraa parallel mechanism design, kunyanya iyo Delta mechanism, iyo inopa robhoti ine maitiro akadai seyakanyanya kukurumidza, yakanyatsojeka, yakasimba rigidity, uye compact structure, zvichiita kuti iite zvakanaka mukuputira, kuronga, kubata uye mamwe maitiro.
Nguva yekutumira: May-14-2024
