Kungani amarobhothi engakwazi ukwenza imisebenzi ngokunembile ngokuvumelana nokunemba kokuma kwawo okuphindaphindayo? Kumasistimu okulawula ukunyakaza kwamarobhothi, ukuchezuka kwezinhlelo ezihlukahlukene zokuxhumanisa kuyisici esibalulekile esithinta ukunemba kokunyakaza kwerobhothi nokuphindaphinda. Okulandelayo ukuhlaziya okuningiliziwe kokuchezuka kwesistimu yokuxhumanisa okuhlukahlukene:
1. Izixhumanisi eziyisisekelo
I-base coordinate iwuphawu lokulinganiswa kwawo wonke amasistimu wokuxhumanisa kanye nendawo yokuqala yokusungula imodeli ye-kinematic yerobhothi. Uma wakha imodeli ye-kinematic ku-software, uma ukulungiselelwa kwesistimu yokuxhumanisa isisekelo kungalungile, kuzoholela ekuqoqweni kwamaphutha kulo lonke uhlelo. Lolu hlobo lwephutha lungase lungabonwa kalula phakathi nokulungisa iphutha nokusetshenziswa okulandelayo, njengoba isofthiwe kungenzeka ukuthi isivele icubungulwe isinxephezelo esihambisanayo ngaphakathi. Kodwa-ke, lokhu akusho ukuthi ukulungiselelwa kwezixhumanisi zesisekelo kungashaywa indiva, njengoba noma yikuphi ukuchezuka okuncane kungase kube nomthelela omkhulu ekunembeni kokunyakaza kwerobhothi.
2, DH izixhumanisi
Isixhumanisi se-DH (UDenavit Hartenberg uyaxhumanisa) iyireferensi yokuzungezisa kwe-eksisi ngayinye, esetshenziselwa ukuchaza indawo ehlobene nokuma phakathi kwamalunga erobhothi. Lapho wakha imodeli ye-robot kinematic kusofthiwe, uma isiqondiso sesistimu yokuxhumanisa i-DH isethwe ngokungalungile noma imingcele yokuxhuma (efana nobude, i-offset, i-torsion angle, njll.) ayilungile, izodala amaphutha ekubalweni kwe-homogeneous. ukuguqulwa kwe-matrix. Lolu hlobo lwephutha luzothinta ngokuqondile umzila werobhothi nokuma kwawo. Nakuba ingase ingatholakali kalula phakathi nokulungisa iphutha futhi isetshenziswe ngenxa yezindlela zesinxephezelo sangaphakathi kusofthiwe, ngokuhamba kwesikhathi, izoba nemiphumela emibi ekunembeni nasekuzinzeni kokunyakaza kwerobhothi.
3. Izixhumanisi ezihlangene
Izixhumanisi ezihlanganyelwe ziyi-benchmark yokunyakaza okuhlanganyelwe, okuhlobene eduze namapharamitha afana nesilinganiso sokunciphisa kanye nendawo yomsuka ye-eksisi ngayinye. Uma kunephutha phakathi kwesistimu yokuhlanganisa ngokuhlanganyela kanye nenani langempela, kuzoholela ekunyakazeni okuhlangene okungalungile. Lokhu kungalungile kungase kubonakale njengezimanga ezifana nokusalela, ukuhola, noma ukunyakazisa ngokuhlanganyela, okuthinta kakhulu ukunemba kokunyakaza nokuzinza kwerobhothi. Ukuze ugweme lesi simo, amathuluzi okulinganisa i-laser anembe kakhulu ngokuvamile asetshenziselwa ukulinganisa ngokunembile isistimu yokuhlanganisa ngokuhlanganyela ngaphambi kokuba irobhothi lisuke efekthri, liqinisekisa ukunemba kokunyakaza okuhlangene.
4. Izixhumanisi zomhlaba
Izixhumanisi zomhlaba ziyi-benchmark yokunyakaza komugqa futhi zihlobene nezici ezifana nesilinganiso sokunciphisa, indawo yomsuka, namapharamitha wokuxhuma. Uma kunephutha phakathi kwesistimu yokudidiyela umhlaba kanye nenani langempela, kuzoholela ekunyakazeni okungalungile komugqa kwerobhothi, ngaleyo ndlela kuthinte ukugcinwa kokuma komenzi wokugcina. Lokhu kungalungile kungase kubonakale njengezenzakalo ezinjengokuchezuka komphumela, ukutshekisa, noma ukumisa, okuthinta kakhulu ukusebenza kahle nokuphepha kwerobhothi. Ngakho-ke, ngaphambi kokuthi irobhothi lihambe efektri, kuyadingeka futhi ukusebenzisa amathuluzi okulinganisa nge-laser ukuze kulinganiswe ngokunembile uhlelo lokudidiyela umhlaba ukuze kuqinisekiswe ukunemba kokunyakaza komugqa.
5. Izixhumanisi ze-Workbench
Izixhumanisi zebhentshi lokusebenza ziyefana nezixhumanisi zomhlaba futhi zisetshenziselwa ukuchaza indawo ehlobene nokuma kwamarobhothi ebhentshini lokusebenza. Uma kunephutha phakathi kwesistimu yokuxhumanisa yebhentshi lokusebenzela kanye nenani langempela, lizokwenza irobhothi lingakwazi ukuhamba ngokunembile emugqeni oqondile eduze kwebhentshi lokusebenzela elimisiwe. Lokhu kungalungile kungase kubonakale njengoba irobhothi lishintshashintsha, linyakaza, noma lingakwazi ukufinyelela indawo ebekiwe ebhentshini lomsebenzi, kuthinte kabi ukusebenza kahle nokunemba kwerobhothi. Ngakho-ke, niniukuhlanganisa amarobhothi namabhentshi okusebenza, ukulinganisa okunembile kwesistimu yokuxhumanisa ibhentshi lomsebenzi kuyadingeka.
6, Ithuluzi izixhumanisi
Izixhumanisi zamathuluzi amabhentshimakhi achaza indawo nokuma kwesiphetho sethuluzi ngokuhlobene nesistimu yesisekelo yerobhothi. Uma kunephutha phakathi kwesistimu yokudidiyela ithuluzi kanye nenani langempela, kuzoholela ekungakwazini ukwenza ukunyakaza okunembile komzila okusekelwe endaweni yokugcina elinganiselwe phakathi nenqubo yokuguqulwa kwesimo sengqondo. Lokhu kungalungile kungase kubonakale njengokutshekisa kwethuluzi, ukutshekisa, noma ukungakwazi ukufinyelela ngokunembile indawo emisiwe phakathi nenqubo yokusebenza, kuthinte kabi ukunemba nokusebenza kahle komsebenzi werobhothi. Ezimeni lapho kudingeka khona izixhumanisi zamathuluzi anembe kakhulu, indlela yamaphoyinti angu-23 ingasetshenziswa ukulinganisa ithuluzi nomsuka ukuze kuthuthukiswe ukunemba kukonke kokunyakaza. Le ndlela iqinisekisa ukunemba kwesistimu yokudidiyela ithuluzi ngokwenza izilinganiso eziningi kanye nokulinganisa ezindaweni ezihlukene nokuma kwayo, ngaleyo ndlela ithuthukise ukunemba kokusebenza kwerobhothi nokuphindaphinda.
Ukuchezuka kwamasistimu ahlukahlukene wokudidiyela kunomthelela omkhulu ekunembeni kokunyakaza kanye nekhono lokuma eliphindaphindayo lamarobhothi. Ngakho-ke, ekuklanyweni, ekukhiqizeni, nasenqubweni yokulungisa iphutha yezinhlelo zamarobhothi, kuyadingeka ukunamathisela ukubaluleka okukhulu ekulinganisweni nasekulawuleni ukunemba kwezinhlelo ezihlukahlukene zokuxhumanisa ukuze kuqinisekiswe ukuthi amarobhothi angakwazi ukuqeda ngokunemba nangokuzinza imisebenzi eyahlukene.
Isikhathi sokuthumela: Dec-03-2024
