I-Spider Robotngokuvamile yamukela idizayini ebizwa ngokuthi i-Parallel Mechanism, eyisisekelo sesakhiwo sayo esikhulu. Isici sezinqubo ezihambisanayo ukuthi amaketango anyakazayo amaningi (noma amaketanga egatsha) axhunywe ngokuhambisana neplathifomu engashintshi (isisekelo) kanye nesiteji esinyakazayo (umphumela wokuphela), futhi la maketango amagatsha asebenza kanyekanye ukuze anqume ngokuhlanganyela isikhundla nesimo sengqondo se- ipulatifomu enyakazayo ngokuhlobene neplatifomu engashintshi.
Uhlobo olujwayelekile lwendlela ehambisanayo kuamarobhothi wesicabucabuiDelta(Δ)Isakhiwo esikhulu sesikhungo siqukethe izingxenye ezilandelayo:
1. I-Base Plate: Njengesisekelo sokusekela irobhothi lonke, ligxilile futhi ngokuvamile lixhunywe phansi noma ezinye izakhiwo ezisekelayo.
2. IzEumfundisi Izingalo: Ingxenye eyodwa yengalo ngayinye esebenzayo igxile endaweni engaguquki, kanti enye ixhunywe kusixhumanisi esimaphakathi ngelunga. Ingalo esebenzayo ivamise ukushayelwa injini kagesi (efana ne-servo motor) bese iguqulwa ibe ukunyakaza okuqondile okuqondile noma okuzungezayo ngesinciphisi kanye nendlela yokudlulisa.
3. Ukuxhumanisa: Imvamisa ilungu eliqinile elixhunywe ekugcineni kwengalo esebenzayo, lakha uhlaka oluvaliwe lukanxantathu noma umumo we-quadrilateral. Lokhu kuxhumana kunikeza ukwesekwa nesiqondiso senkundla yeselula.
4. Inkundla yeselula (End Effector): eyaziwa nangokuthi i-end effector, ingxenye yocingo lwesicabucabu lapho abantu bahlanganyela khona ngokuqondile nento yokusebenza, futhi ingafaka amathuluzi ahlukahlukene njengama-gripper, izinkomishi zokumunca, imibhobho, njll. Inkundla yeselula ixhunywe kusixhumanisi esiphakathi ngenduku yokuxhuma, futhi ishintsha indawo nesimo sengqondo ngokuvumelana nokunyakaza kwengalo esebenzayo.
5. Amalunga: Ingalo esebenzayo ixhunywe kusixhumanisi esiphakathi, futhi isixhumanisi esiphakathi sixhunywe endaweni ehambayo ngokusebenzisa amalunga ajikelezayo anembile kakhulu noma amahinge ebhola, okuqinisekisa ukuthi iketango ngalinye legatsha lingahamba ngokuzimela nangokuvumelana.
Idizayini yomshini ofanayo womzimba womuntu wefoni yesicabucabu inezinzuzo ezilandelayo:
Isivinini esikhulu: Ngenxa yokusebenza ngesikhathi esisodwa kwamagatsha amaningi omshini ofanayo, awekho amadigri enkululeko aphindaphindekayo phakathi nenqubo yokunyakaza, ukunciphisa ubude nesisindo sochungechunge lokunyakaza, ngaleyo ndlela kuzuzwe impendulo yokunyakaza kwesivinini esikhulu.
Ukunemba okuphezulu: Izithiyo zejiyomethri zezindlela ezihambisanayo ziqinile, futhi ukunyakaza kochungechunge lwegatsha ngalinye kuvinjelwa ngokulinganayo, okulungele ukuthuthukisa ukunemba kokumiswa okuphindaphindiwe. Ngomklamo onembile wemishini kanye nokulawulwa kwe-servo okunembe kakhulu,Irobhothi lesicabucabuingafinyelela ukunemba kokubeka izinga le-millimeter.
Ukuqina okuqinile: Isakhiwo senduku yokuxhuma engunxantathu noma i-polygonal sinokuqina okuhle, singakwazi ukumelana nemithwalo ephezulu futhi sigcine ukusebenza okuhle okuguquguqukayo, futhi ifaneleka ukuphatha izinto ezihamba ngesivinini esiphezulu nokunemba okuphezulu, ukuhlanganisa, ukuhlola neminye imisebenzi.
Ukwakheka okuhlangene: Uma kuqhathaniswa nochungechunge lwezindlela (ezifana namarobhothi e-axis ayisithupha), isikhala sokunyakaza semishini ehambisanayo sigxiliswe phakathi kwamapulatifomu angaguquki kanye namaselula, okwenza uhlaka lulonke luminyene futhi luthathe indawo encane, okulwenza lufaneleke ikakhulukazi ukusebenza endaweni enomkhawulo. izindawo.
Kafushane, umzimba oyinhloko werobhothi lefoni yesicabucabu uyamukelaumklamo womshini ofanayo, ikakhulukazi indlela ye-Delta, enikeza irobhothi izici ezifana nesivinini esikhulu, ukunemba okuphezulu, ukuqina okuqinile, kanye nesakhiwo esihlangene, okwenza ukuthi lenze kahle ekupakisheni, ekuhlungeni, ekuphatheni nakwezinye izinhlelo zokusebenza.
Isikhathi sokuthumela: May-14-2024
