Roboto ea deltake mofuta oa liroboto tse ts'oanang tse sebelisoang hangata ho liindasteri tse ikemetseng. E na le matsoho a mararo a hokahaneng le motheo o tloaelehileng, 'me letsoho le leng le le leng le na le letoto la likhokahano tse hokahaneng ka manonyeletso. Matsoho a laoloa ke li-motor le li-sensor ho tsamaea ka mokhoa o kopanetsoeng, ho nolofalletsa roboto ho etsa mesebetsi e rarahaneng ka lebelo le ho nepahala. Sehloohong sena, re tla tšohla ts'ebetso ea mantlha ea sistimi ea taolo ea liroboto tsa delta, ho kenyelletsa le algorithm ea taolo, li-sensor le li-actuator.
Laola Algorithm
Algorithm ea taolo ea roboto ea delta ke pelo ea sistimi ea taolo. E na le boikarabello ba ho sebetsana le matšoao a kenang ho tsoa ho li-sensor tsa roboto le ho li fetolela ho litaelo tsa motsamao bakeng sa li-motor. Algorithm ea taolo e etsoa ho "programmable logic controller" (PLC) kapa microcontroller, e kentsoeng ka har'a tsamaiso ea roboto.
Algorithm ea taolo e na le likarolo tse tharo tse kholo: kinematics, moralo oa trajectory, le taolo ea maikutlo. Kinematics e hlalosa kamano pakeng tsalikhutlo tse kopaneng tsa roboto le boemole mokhoa oa ho qetela oa roboto (hangata ke gripper kapa sesebelisoa). Moralo oa litsela o amana le tlhahiso ea litaelo tsa ho sisinyeha ho tlosa roboto ho tloha sebakeng sa eona sa hona joale ho ea sebakeng se lakatsehang ho latela tsela e boletsoeng. Taolo ea maikutlo e kenyelletsa ho lokisa motsamao oa roboto ho ipapisitsoe le matshwao a maikutlo a kantle (mohlala, ho bala ha sensor) ho netefatsa hore roboto e latela tsela e batloang ka nepo.
Li-sensor
Sistimi ea taolo ea roboto ea deltae itšetlehile ka sete ea lisensara ho beha leihlo likarolo tse fapaneng tsa ts'ebetso ea roboto, joalo ka boemo ba eona, lebelo le lebelo. Li-sensor tse sebelisoang haholo lirobotong tsa delta ke li-encoder tsa optical, tse lekanyang ho potoloha ha manonyeletso a roboto. Lisensara tsena li fana ka maikutlo a boemo ba angular ho algorithm ea taolo, e e nolofalletsang ho tseba boemo ba roboto le lebelo la eona ka nako ea nnete.
Mofuta o mong oa bohlokoa oa sensor o sebelisoang lirobotong tsa delta ke li-sensor tsa matla, tse lekanyang matla le li-torque tse sebelisoang ke sephetho sa roboto. Lisensara tsena li thusa roboto ho etsa mesebetsi e laoloang ke matla, e kang ho tšoara lintho tse robehang habonolo kapa ho sebelisa matla a lekaneng ha e kopanya.
Li-activators
Sistimi ea taolo ea roboto ea delta e na le boikarabello ba ho laola metsamao ea roboto ka sete ea li-actuator. Li-actuator tse sebelisoang haholo lirobotong tsa delta ke likoloi tsa motlakase, tse tsamaisang manonyeletso a roboto ka likere kapa mabanta. Li-motor li laoloa ke algorithm ea taolo, e ba romellang litaelo tse nepahetseng tsa motsamao ho ipapisitsoe le tlhahiso e tsoang ho li-sensor tsa roboto.
Ntle le li-motor, liroboto tsa delta le tsona li ka sebelisa mefuta e meng ea li-actuator, joalo ka li-hydraulic kapa pneumatic actuators, ho latela litlhoko tse ikhethileng tsa kopo.
Qetellong, tsamaiso ea taolo ea roboto ea delta ke mokhoa o rarahaneng le o ntlafalitsoeng haholo o nolofalletsang roboto ho etsa mesebetsi ka lebelo le holimo le ka nepo. Algorithm ea taolo ke pelo ea sistimi, e sebetsanang le matšoao a kenang ho tsoa ho li-sensor tsa roboto le ho laola motsamao oa roboto ka sete ea li-actuator. Lisensara tse ka har'a roboto ea delta li fana ka maikutlo mabapi le boemo ba roboto, lebelo le lebelo la eona, ha li-actuator li khanna metsamao ea roboto ka tsela e hokahaneng. Ka ho kopanya li-algorithms tse nepahetseng tsa taolo le theknoloji e tsoetseng pele ea sensor le actuator, liroboto tsa delta li fetola tsela eo boiketsetso ba indasteri bo etsoang ka eona.
Nako ea poso: Sep-27-2024
