Kutheni iirobhothi zingakwazi ukwenza imisebenzi ngokuchanekileyo ngokuphindaphinda ukuchaneka kwazo? Kwiinkqubo zokulawula intshukumo yerobhothi, ukutenxa kwiinkqubo ezahlukeneyo zokulungelelanisa yeyona nto iphambili echaphazela ukuchaneka kwentshukumo yerobhothi kunye nokuphinda-phinda. Olu lulandelayo lucazululo oluneenkcukacha lweendlela ezahlukeneyo zokutenxa kwinkqubo yolungelelwaniso:
1, Ulungelelwaniso olusisiseko
Ulungelelwaniso olusisiseko luphawu lwazo zonke iinkqubo zokulungelelanisa kunye nesiqalo sokuseka imodeli yekinematic yerobhothi. Xa ukwakhiwa kwemodeli ye-kinematic kwi-software, ukuba ukusekwa kwenkqubo yokulungelelanisa isiseko akuchanekanga, kuya kukhokelela ekuqokeleleni iimpazamo kwinkqubo yonke. Olu hlobo lwempazamo lusenokungabonwa lula ngexesha lolungiso kunye nokusetyenziswa okulandelayo, njengoko isoftware isenokuba sele yenze imbuyekezo ehambelanayo ngaphakathi. Nangona kunjalo, oku akuthethi ukuba ukusetwa kolungelelwaniso lwesiseko kunokungahoywa, njengoko nakuphi na ukuphambuka okuncinci kunokuba nefuthe elibonakalayo ekuchanekeni kwentshukumo yerobhothi.
2, DH ulungelelaniso
Ulungelelwaniso lweDH (Denavit Hartenberg ulungelelanisa) sisireferensi sokujikeleza kwe-axis nganye, esetyenziselwa ukuchaza indawo ehambelanayo kunye nokuma phakathi kwamalungu erobhothi. Xa ukwakhiwa imodeli ye-robot kinematic kwi-software, ukuba isalathiso senkqubo yokulungelelanisa i-DH isetyenziswe ngokungalunganga okanye iiparitha zokudibanisa (ezifana nobude, i-offset, i-angle ye-torsion, njl. njl.) ayichanekanga, iya kubangela iimpazamo ekubalweni kwe-homogeneous. inguqu matrix. Olu hlobo lwempazamo luya kuchaphazela ngokuthe ngqo i-robot trajectory kunye nokuma. Nangona ingenakubonwa lula ngexesha lokulungiswa kunye nokusetyenziswa ngenxa yeendlela zembuyekezo yangaphakathi kwisofthiwe, ekuhambeni kwexesha, iya kuba nemiphumo emibi ekuchanekeni kwentshukumo yerobhothi kunye nokuzinza.
3, Ulungelelwaniso oludibeneyo
Ulungelelwaniso oludityanisiweyo luphawu lwentshukumo edibeneyo, ehambelana ngokusondeleyo neeparamitha ezinje ngomlinganiselo wokunciphisa kunye nendawo yemvelaphi ye-axis nganye. Ukuba kukho impazamo phakathi kwenkqubo yokudibanisa edibeneyo kunye nexabiso langempela, liya kukhokelela kwintshukumo edibeneyo engachanekanga. Oku kungachanekanga kunokubonakalisa njengezinto ezinjengokuqhwala, ukukhokela, okanye ukungcangcazela kwintshukumo edibeneyo, echaphazela kakhulu ukuchaneka kwentshukumo kunye nokuzinza kwerobhothi. Ukuze ugweme le meko, izixhobo zokulinganisa i-laser ezichanekileyo ziqhelekileyo zisetyenziselwa ukulinganisa ngokuchanekileyo inkqubo yokudibanisa edibeneyo ngaphambi kokuba i-robot ihambe kumzi-mveliso, iqinisekisa ukuchaneka kokunyakaza okuhlangeneyo.
4. Ulungelelwaniso lwehlabathi
Ulungelelwaniso lwehlabathi luphawu lwentshukumo yomgca kwaye lunxulumene nezinto ezinje ngomlinganiselo wokuncitshiswa, indawo yemvelaphi, kunye neeparamitha zonxibelelano. Ukuba kukho impazamo phakathi kwenkqubo yolungelelwaniso lwehlabathi kunye nexabiso langempela, liya kukhokelela kwintshukumo engachanekanga yomgca werobhothi, ngaloo ndlela ichaphazela ukugcinwa kwesimo somphumo wokugqibela. Oku kungachanekanga kunokubonakala njengesenzeko esifana nesiphelo sokuphambuka, ukuthambeka, okanye ukulinganisa, okuchaphazela ngokunzulu ukusebenza kwerobhothi kunye nokhuseleko. Ke ngoko, ngaphambi kokuba irobhothi ihambe kumzi-mveliso, kuyafuneka ukuba kusetyenziswe izixhobo zokulinganisa i-laser ukulungelelanisa ngokuchanekileyo inkqubo yolungelelwaniso lwehlabathi ukuze kuqinisekiswe ukuchaneka kwentshukumo yomgca.
5. I-Workbench ilungelelanisa
Ulungelelwaniso lwe-Workbench lufana nolungelelwaniso lwehlabathi kwaye lukwasetyenziselwa ukuchaza indawo ehambelanayo kunye nokuma kweerobhothi kwi-workbench. Ukuba kukho impazamo phakathi kwenkqubo yokulungelelanisa yebhentshi yokusebenzela kunye nexabiso langempela, liya kubangela ukuba i-robot ingakwazi ukuhamba ngokuchanekileyo kumgca ochanekileyo kunye nebhentshi yokusebenza. Oku kungachaneki kunokubonakala njengoko irobhothi ishukuma, ishukuma, okanye ingakwazi ukufikelela kwindawo echongiweyo kwibhentshi yomsebenzi, kuchaphazela ngokunzulu ukusebenza kakuhle kunye nokuchaneka kwerobhothi. Ngoko ke, niniukudibanisa iirobhothi kunye neebhentshi zokusebenza, ulungelelwaniso oluchanekileyo lwenkqubo yokulungelelanisa ibhentshi iyafuneka.
6, Ulungelelwaniso lwesixhobo
Ulungelelwaniso lwesixhobo luphawu oluchaza indawo kunye nokuqhelaniswa nesiphelo sesixhobo ngokunxulumene nesiseko senkqubo yerobhothi. Ukuba kukho impazamo phakathi kwenkqubo yokulungelelanisa isixhobo kunye nexabiso langempela, kuya kubangela ukungakwazi ukwenza ukunyakaza okuchanekileyo okusekelwe kwindawo yokuphela kwecalibrated ngexesha lenkqubo yokuguqula isimo sengqondo. Oku kungachaneki kunokubonakala njengokuthambeka kwesixhobo, ukuthambeka, okanye ukungakwazi ukufikelela ngokuchanekileyo kwindawo echongiweyo ngexesha lenkqubo yokusebenza, kuchaphazela ngokunzulu ukuchaneka nokusebenza kakuhle komsebenzi werobhothi. Kwiimeko apho ulungelelwaniso lwesixhobo oluchanekileyo oluchanekileyo lufunekayo, indlela ye-23 point ingasetyenziselwa ukulinganisa isixhobo kunye nemvelaphi yokuphucula ukuchaneka kokunyakaza ngokubanzi. Le ndlela iqinisekisa ukuchaneka kwenkqubo yokulungelelanisa isixhobo ngokuqhuba imilinganiselo emininzi kunye nokulinganisa kwiindawo ezahlukeneyo kunye nokuqhelaniswa, ngaloo ndlela kuphuculwe ukuchaneka kokusebenza kwerobhothi kunye nokuphindaphinda.
Ukutenxa kweendlela ezahlukeneyo zolungelelwaniso kunempembelelo enkulu ekuchanekeni kwentshukumo kunye nokukwazi ukuphinda-phinda ukubeka iirobhothi. Ke ngoko, kuyilo, ukuvelisa, kunye nokulungisa inkqubo yerobhothi, kuyafuneka ukuba uncamathisele ukubaluleka kokulinganisa kunye nolawulo oluchanekileyo lweenkqubo ezahlukeneyo zokulungelelanisa ukuqinisekisa ukuba iirobhothi zinokugqiba ngokuchanekileyo nangokuzinzileyo imisebenzi eyahlukeneyo.
Ixesha lokuposa: Dec-03-2024
