1. Melao-motheo le sebopeho sa liroboto tse 'ne tsa axis:
1. Ho ea ka molao-motheo: Roboto ea li-axis tse 'nè e entsoe ka manonyeletso a mane a kopantsoeng,' me e 'ngoe le e' ngoe e ka etsa motsamao oa mahlakore a mararo. Moralo ona o e fa bokhoni bo phahameng le ho ikamahanya le maemo, e e lumellang ho etsa mesebetsi e fapaneng habonolo libakeng tse moqotetsane. Ts'ebetso ea ts'ebetso e kenyelletsa khomphutha e kholo ea taolo e amohelang litaelo tsa mosebetsi, ho sekaseka le ho toloka litaelo tsa ho fumana mekhahlelo ea ho sisinyeha, ho etsa ts'ebetso ea kinematic, dynamic, le interpolation, le ho fumana likarolo tse hokahaneng tsa motsamao bakeng sa lenonyeletso ka leng. Mekhahlelo ena e hlahisoa sethaleng sa taolo ea servo, e khanna manonyeletso ho hlahisa motsamao o hokahaneng. Li-sensors li khutlisetsa mats'oao a kopaneng a litsamaiso sethaleng sa taolo ea servo ho theha taolo ea sebaka se koalehileng, ho fihlela motsamao o nepahetseng oa sebaka.
2. Mabapi le sebopeho, hangata e na le setsi, 'mele oa letsoho, forearm, le gripper. Karolo ea gripper e ka ba le lisebelisoa tse fapaneng ho latela litlhoko tse fapaneng.
2. Papiso lipakeng tsa liroboto tse 'ne tsa axis le liroboto tse tšeletseng tsa axis:
1. Mekhahlelo ea Tokoloho: Quadcopter e na le likhato tse 'nè tsa tokoloho. Manonyeletso a mabeli a pele a ka potoloha ka bolokolohi ka ho le letšehali le ka ho le letona sefofaneng se tšekaletseng, ha molamu oa tšepe oa lenonyeletso la boraro o khona ho ea holimo le tlaase ka sefofane se otlolohileng kapa oa potoloha ho pota-pota axis e otlolohileng, empa o sitoa ho sekamela; Roboto ea li-axis tse tšeletseng e na le likhato tse tšeletseng tsa tokoloho, manonyeletso a mabeli ho feta roboto ea axis e mene, 'me e na le bokhoni bo tšoanang le ba matsoho le matsoho a motho. E ka nka likarolo tse shebaneng le tsela leha e le efe sefofaneng se tšekaletseng ebe e li beha lihlahisoa tse pakiloeng ka li-angles tse khethehileng.
2. Maemo a kopo: Liroboto tse 'nè tsa axis li loketse mesebetsi e kang ho tšoara, ho tjheseletsa, ho tsamaisa, ho kenya le ho laolla tse hlokang ho fetoha ha maemo a tlaase empa ho na le litlhoko tse itseng tsa lebelo le ho nepahala; Liroboto tse tšeletseng tsa axis li khona ho etsa ts'ebetso e rarahaneng le e nepahetseng haholoanyane, 'me li sebelisoa haholo maemong a kang kopano e rarahaneng le machining a holimo.
3. Libaka tsa ts'ebeliso ea li-quadcopter 5:
1. Ho etsa liindasteri: ho khona ho nka sebaka sa mosebetsi oa matsoho ho phetha mesebetsi e boima, e kotsi, kapa e nepahetseng haholo, joalo ka ho tšoara, ho khoasolla le ho tjheseletsa indastering ea likarolo tsa likoloi le lithuthuthu; Kopano, liteko, soldering, joalo-joalo indastering ea lihlahisoa tsa elektronike.
2. Tšimo ea bongaka: E sebelisetsoa ho buuoa ka mokhoa o fokolang, ho nepahala ha eona ho phahameng le ho tsitsa ha eona ho etsa hore ts'ebetso ea ho buuoa e be e nepahetseng le e sireletsehileng haholoanyane, e fokotsa nako ea ho hlaphoheloa ha mokuli.
3. Thepa le ho boloka thepa: Ho fetisoa ha thepa ka boiketsetso ho tloha sebakeng se seng ho ea ho se seng, ho ntlafatsa bobolokelo le katleho ea thepa.
4. Temo: E ka sebelisoa lirapeng tsa lifate tsa litholoana le matlong a limela ho phetha mesebetsi e kang ho kha, ho faola limela le ho fafatsa, ho ntlafatsa katleho le boleng ba temo.
4. Lenaneo le Taolo ea Liroboto tse 'nè tsa Axis:
1. Lenaneo: Hoa hlokahala ho tseba puo ea lenaneo le software ea liroboto, ho ngola mananeo ho latela litlhoko tse khethehileng tsa mosebetsi, le ho fihlela taolo ea motsamao le ts'ebetso ea liroboto. Ka software ena, liroboto li ka sebetsoa marang-rang, ho kenyelletsa khokahano le balaoli, matla a servo ho, ho fokotseha ha tšimoloho, ho sisinyeha ha inch, ho latela lintlha, le mesebetsi ea ho beha leihlo.
2. Mokhoa oa ho laola: E ka laoloa ka PLC le balaoli ba bang, kapa ea laoloa ka letsoho ka pendant ea ho ruta. Ha o buisana le PLC, hoa hlokahala ho tseba mekhoa e nepahetseng ea puisano le mekhoa ea tlhophiso ho netefatsa puisano e tloaelehileng pakeng tsa roboto le PLC.
5. Tekanyo ea leihlo la letsoho la quadcopter:
1. Morero: Lits'ebetsong tse sebetsang tsa liroboto, ka mor'a ho hlomella liroboto tse nang le li-sensor tse bonoang, hoa hlokahala ho fetolela lihokahanyo ka har'a sistimi ea khokahano ea pono ho sistimi ea khokahanyo ea liroboto. Ho lekanya mahlo a letsoho ke ho fumana matrix a phetoho ho tloha tsamaisong ea pono ea ho hokahanya ho ea ho tsamaiso ea liroboto.
2. Mokhoa: Bakeng sa liroboto tse 'nè tsa axis planar, kaha libaka tse nkiloeng ke khamera le tse sebelisoang ke letsoho la robotiki ke lifofane ka bobeli, mosebetsi oa ho lekanya mahlo a letsoho o ka fetoloa ho bala phetoho ea kamano pakeng tsa lifofane tse peli. Hangata, "9-point method" e sebelisoa, e kenyelletsang ho bokella lintlha ho tsoa ho lihlopha tse fetang 3 (hangata li-sete tse 9) tsa lintlha tse lumellanang le ho sebelisa mokhoa o fokolang oa lisekoere ho rarolla matrix a phetoho.
6. Tlhokomelo le tlhokomelo ea li-quadcopter:
1. Tlhokomelo ea letsatsi le leng le le leng: ho kenyelletsa le tlhahlobo ea kamehla ea ponahalo ea roboto, ho hokahanya ha motsoako o mong le o mong, boemo ba ho sebetsa ba li-sensor, joalo-joalo, ho netefatsa ts'ebetso e tloaelehileng ea roboto. Ka nako e ts'oanang, hoa hlokahala ho boloka tikoloho ea ts'ebetso ea roboto e hloekile ebile e omme, le ho qoba tšusumetso ea lerōle, litšila tsa oli, joalo-joalo ho roboto.
2. Tlhokomelo ea kamehla: Ho latela ts'ebeliso ea roboto le likhothaletso tsa moetsi, ho boloka roboto khafetsa, joalo ka ho nkela oli e tlotsang sebaka, ho hloekisa li-filters, ho hlahloba lisebelisoa tsa motlakase, joalo-joalo. Mosebetsi oa ho hlokomela o ka lelefatsa bophelo ba liroboto, oa ntlafatsa mosebetsi oa bona. bokgoni le botsitso.
Na ho na le phapang e kholo ea litšenyehelo lipakeng tsa liroboto tse 'ne tsa axis le liroboto tse tšeletseng tsa axis?
1. Litšenyehelo tsa mantlha 4:
1. Reducer: Reducer ke karolo ea bohlokoa ea litšenyehelo tsa roboto. Ka lebaka la palo e kholo ea manonyeletso, liroboto tse tšeletseng tsa axis li hloka li-reducers tse ngata, 'me hangata li na le litlhoko tse phahameng tsa ho nepahala le tsa mojaro, tse ka hlokang ho fokotsa boleng bo phahameng. Ka mohlala, li-reducers tsa RV li ka sebelisoa libakeng tse ling tsa bohlokoa, ha liroboto tse 'nè tsa axis li na le litlhoko tse tlase haholo bakeng sa lisebelisoa. Maemong a mang a ts'ebeliso, litlhaloso le boleng ba lisebelisoa tse sebelisoang li ka ba tlase ho feta tsa liroboto tse tšeletseng tsa axis, ka hona, litšenyehelo tsa liroboto tsa liroboto tse tšeletseng li tla ba holimo.
2. Servo motors: Taolo ea motsamao oa liroboto tse tšeletseng tsa axis e rarahane ho feta, e hloka hore li-servo motors li laole ka nepo motsamao oa lenonyello ka leng, le litlhoko tse phahameng tsa ts'ebetso bakeng sa li-motor tsa servo ho fihlela karabelo ea ketso e potlakileng le e nepahetseng, e eketsang litšenyehelo tsa servo. motors bakeng sa liroboto tse tšeletseng tsa axis. Liroboto tse 'ne tsa axis li na le manonyeletso a fokolang, a hlokang li-servo motors tse fokolang le litlhoko tse tlase tsa ts'ebetso, tse hlahisang litšenyehelo tse tlase.
2. Litšenyehelo tsa tsamaiso ea tsamaiso: Tsamaiso ea tsamaiso ea roboto ea li-axis tse tšeletseng e hloka ho sebetsana le boitsebiso bo bongata ba ho sisinyeha ka kopanelo le moralo o rarahaneng oa mokhoa oa ho sisinyeha, o fellang ka ho rarahana ho hoholo ha li-algorithms tsa taolo le software, hammoho le litšenyehelo tse phahameng tsa nts'etsopele le ho lokisa liphoso. Ka lehlakoreng le leng, taolo ea motsamao oa liroboto tse 'ne tsa axis e batla e le bonolo,' me litšenyehelo tsa sistimi ea taolo li batla li le tlase.
3. Litšenyehelo tsa R&D le moralo: Bothata ba moralo oa liroboto tse tšeletseng tsa axis bo boholo, bo hlokang theknoloji e eketsehileng ea boenjiniere le matsete a R&D ho netefatsa ts'ebetso ea bona le ts'epo. Mohlala, moralo o kopaneng oa sebopeho, kinematics, le dynamics analysis ea liroboto tse tšeletseng tsa axis li hloka lipatlisiso tse tebileng le ntlafatso, athe sebopeho sa liroboto tse 'ne tsa axis se batla se le bonolo mme litšenyehelo tsa moralo oa lipatlisiso le nts'etsopele li batla li le tlase.
4. Litšenyehelo tsa tlhahiso le kopano: Liroboto tse tšeletseng tsa axis li na le palo e kholoanyane ea likarolo, 'me mekhoa ea ho etsa le ho bokana e rarahane haholo, e hlokang ho nepahala ho phahameng le litlhoko tsa ts'ebetso, e leng se lebisang ho eketseha ha litšenyehelo tsa bona tsa tlhahiso le kopano. Sebopeho sa liroboto tse 'nè tsa axis se batla se le bonolo, mokhoa oa ho etsa le oa ho kopanya o batla o le bonolo,' me litšenyehelo le tsona li batla li le tlaase.
Leha ho le joalo, liphapang tse ikhethileng tsa litšenyehelo li tla susumetsoa ke lintlha tse joalo ka mofuta, litekanyetso tsa ts'ebetso, le litlhophiso tsa ts'ebetso. Maemong a mang a ts'ebeliso ea maemo a tlase, phapang ea litšenyehelo lipakeng tsa liroboto tse 'ne tsa axis le liroboto tse tšeletseng tsa axis e kanna ea ba nyane; Sebakeng sa ts'ebeliso ea maemo a holimo, theko ea liroboto tse tšeletseng tsa axis e kanna ea ba holimo haholo ho feta ea liroboto tse 'ne tsa axis.
Nako ea poso: Nov-08-2024
