Robot-ka Deltawaa nooc ka mid ah robots barbar socda oo caadi ahaan loo isticmaalo automation warshadaha. Waxay ka kooban tahay saddex gacmood oo ku xiran saldhig guud, iyada oo cudud kastaa ay ka kooban tahay xiriiryo taxane ah oo ku xiran kala-goysyada. Gacmaha waxaa maamula matoorada iyo dareemayaasha si ay ugu socdaan hab isku xiran, taasoo u sahlaysa robot-ka in uu qabto hawlo adag oo xawli iyo sax ah. Maqaalkan, waxaan ka wada hadli doonaa shaqada aasaasiga ah ee nidaamka xakamaynta robot delta, oo ay ku jiraan algorithm kantaroolka, dareemayaasha, iyo actuators.
Xakamaynta Algorithm
Algorithmamka kantaroolka robotka delta waa wadnaha nidaamka xakamaynta. Waxay mas'uul ka tahay socodsiinta calaamadaha soo gelinta ee dareemayaasha robot-ka oo ay u tarjumaan amarrada dhaqdhaqaaqa matoorada. Algorithm-ka kantaroolka waxaa lagu fuliyaa kontaroolaha macquulka ah ee programmable (PLC) ama microcontroller, kaas oo ku dhexjira nidaamka xakamaynta robotka.
Algorithm-ka kantaroolku wuxuu ka kooban yahay saddex qaybood oo waaweyn: kinematics, qorshaynta jihada, iyo xakamaynta jawaab celinta. Kinematics waxay qeexaysaa xidhiidhka ka dhexeeyaxaglaha wadajirka ah ee robotka iyo booskaiyo hanuuninta aaladaha ugu dambeeya ee robot-ka (sida caadiga ah xajinta ama aaladda). Qorshaynta jihaynta waxay khusaysaa jiilka amarrada dhaqdhaqaaqa si robotka looga raro booska uu hadda joogo loona wareejiyo meel la rabo iyadoo la raacayo waddo cayiman. Xakamaynta jawaab celinta waxay ku lug leedahay hagaajinta dhaqdhaqaaqa robotka iyadoo lagu saleynayo calaamadaha jawaab celinta dibadda (tusaale akhrinta dareemayaasha) si loo hubiyo in robotku si sax ah u raaco jihada la rabo.
Dareemayaasha
Nidaamka xakamaynta robot-ka Deltawaxay ku tiirsan tahay dareemaha kala duwan si ay ula socdaan qaybaha kala duwan ee waxqabadka robotka, sida booska, xawaaraha, iyo dardargelinta. Dareemayaasha ugu badan ee loo isticmaalo robots-ka delta waa indho-indheeyayaal, kuwaas oo cabbira wareegtada kala-goysyada Robot-ka. Dareemayaashani waxay bixiyaan jawaab celin xaga xagal ah oo ku saabsan algorithm kantaroolka, taas oo awood u siinaysa inay go'aamiso booska robotka iyo xawaaraha wakhtiga dhabta ah.
Nooc kale oo muhiim ah oo ka mid ah dareemayaasha loo isticmaalo robots-ka delta waa dareemayaasha xoogga, kuwaas oo cabbira xoogagga iyo torques-ka uu isticmaalo robot-sameeye-dhammaadka. Dareemayaashani waxay awood u siinayaan robot-ka inuu qabto hawlo xoog lagu xakameeyo, sida qabashada walxaha jilicsan ama isticmaalka xaddi sugan oo xoog ah inta lagu jiro hawlgallada isku-ururinta.
Dhaqdhaqaaqayaasha
Nidaamka kontoroolka robot-ka delta ayaa mas'uul ka ah xakameynta dhaqdhaqaaqa robot-ka iyada oo loo marayo qalab-yaqaano. Dhaqdhaqaaqayaasha ugu caansan ee loo isticmaalo robots-ka delta waa matoorada korantada, kuwaas oo kaxeeya kala-goysyada Robot-ka iyada oo loo marayo gear ama suunka. Matoorada waxaa gacanta ku haya algoorithm-ka kantaroolka, kaas oo u soo diraya amarrada dhaqdhaqaaqa saxda ah ee ku saleysan gelinta dareemayaasha robotka.
Matoorada ka sokow, robots-ka delta waxa kale oo laga yaabaa inay adeegsadaan noocyada kale ee hawlgeliyayaasha, sida hawo-qaadayaasha ama sambabada hawada, taas oo ku xidhan shuruudaha codsiga gaarka ah.
Gabagabadii, nidaamka xakamaynta ee robot-ka delta waa nidaam adag oo aad loo hagaajiyay kaas oo awood u siinaya robotku inuu qabto hawlo xawaare sare iyo sax ah. Algorithm-ka kantaroolku waa wadnaha nidaamka, farsamaynta calaamadaha gelinta ee dareemayaasha robot-ka iyo xakamaynta dhaqdhaqaaqa robot-ka iyada oo loo marayo qaybo firfircoon. Dareemayaasha ku jira robot-ka delta waxay bixiyaan jawaab celin ku saabsan booska robot-ka, xawaaraha, iyo dardargelinta, halka hawl-wadeennadu ay u wadaan dhaqdhaqaaqa robot-ka si habaysan. Marka la isku daro algorithms-ka kontoroolka saxda ah ee dareemayaasha horumarsan iyo tignoolajiyada firfircoonida, robots-yada delta ayaa bedelaya habka otomaatiga warshadaha loo sameeyo.
Waqtiga boostada: Seb-27-2024
