Mapulatifomu ambiri-Mapulatifomu a DoF, monga zida zofunika kwambiri pamakina amakono ndi makina, amagwira ntchito yofunika kwambiri m'njira zosiyanasiyana, kuphatikiza zoyeserera zakuthambo, kupanga mafakitale, ndi kukonzanso zamankhwala, chifukwa cha kuthekera kwawo kosunthika. Komabe, mitundu yosiyanasiyana ya mapulaneti ambiri-a DoF amasiyana kwambiri malinga ndi kukula kwa zoyenda, njira zamagalimoto, ndi kuwongolera kolondola. Kusiyana kumeneku kumatsimikizira mwachindunji ntchito zawo ndi ntchito zawo. Nkhaniyi ifotokoza kusiyana kwakukulu pakati pa mitundu yosiyanasiyana-ya nsanja za DoF mosiyanasiyana.
Kusiyana Kofunikira mu Motion Degrees of Freedom
Kusiyana kwakukulu kwambiri pakati pa-mapulatifomu ambiri a DoF kuli pa kuchuluka kwa ma nkhwangwa odziyimira pawokha omwe angakwanitse. Zitatu zodziwika kwambiri-Njira ya DoF nthawi zambiri imakhala yomasulira motsatira mizere itatu ya X, Y, ndi Z. Kusinthaku kumagwiritsidwa ntchito kwambiri pakugwiritsa ntchito zinthu zosavuta kapena zochitika zoyambira. Dongosololi likamawonjezera mphamvu zozungulira pafupifupi nkhwangwa zitatu (zomwe nthawi zambiri zimatchedwa pitch, yaw, ndi roll), zimakhala pulatifomu yachisanu ndi chimodzi-DoF, yomwe pakali pano ndiyovuta kwambiri komanso yogwiritsidwa ntchito kwambiri paukadaulo.
Ndizofunikira kudziwa kuti mapulatifomu ena opangidwa mwapadera amatha kupereka masinthidwe anayi kapena asanu a ufulu (DOF). Mwachitsanzo, maloboti ena akumafakitale amaphatikiza kuthekera komasulira ndi kasinthasintha m'njira zinazake. Izi{2}}zophatikizira za DOF zosakhazikika nthawi zambiri zimakongoletsedwa ndi zochitika zinazake, kulephera kusinthasintha kwinaku akuwongolera magwiridwe antchito enaake. Mwachitsanzo, mapulaneti ena oyerekeza a m'nyanja amatha kutsindika moyima ndi kusuntha kwina kwinaku akuthandizira miyeso ina.
Njira Zosiyanasiyana Zopangira Mapangidwe Amakina
Ngakhale atakwaniritsa kuchuluka komweko kwa DOF, nsanja zosiyanasiyana zitha kukhala ndi mayankho osiyanasiyana. Mapulatifomu ofananirako (monga-odziwika bwino a Delta robot kapena Stewart platform) amakwaniritsa kusintha komaliza pogwiritsa ntchito ma drive rod angapo. Mapulatifomuwa nthawi zambiri amapereka kuuma kwakukulu komanso kuyankha, koma malo awo ogwirira ntchito ndi ochepa. Mapulatifomu a seri, kumbali ina, amamanga maunyolo a kinematic pomanga mfundo zingapo. Ngakhale izi zimapereka malo ogwirira ntchito okulirapo, amavutika ndi zolakwika zochulukirapo komanso kuuma kosakwanira.
Njira zosakanikirana, zomwe zakhala zikuchitika m'zaka zaposachedwa, yesetsani kuphatikiza ubwino wa njira zonse ziwiri, monga kugwiritsa ntchito njira yofananira monga mapeto omaliza mu mkono wa robot. Zophatikizika izi zimathandizira kuti{1}}ziwonetsedwe bwino ndi momwe amagwirira ntchito ndikusunga malo ogwirira ntchito. Kusankha zinthu zosiyanasiyana kumapangitsanso kusiyana kwa kamangidwe kake-mafuremu opepuka a carbon fiber ndi oyenera kugwiritsa ntchito-liwiro kwambiri, pomwe zitsulo zimanyamula katundu wambiri.
Zosankha Zosiyanasiyana mu Drive and Transmission Technologies
Kusiyanasiyana kwamakina oyendetsa kumakhudzanso magwiridwe antchito a nsanja. Makina amagetsi a servo, chifukwa cha mawonekedwe ake owongolera, ndi omwe angasankhidwe pamapulogalamu apamwamba kwambiri-makamaka akaphatikizidwa ndi zochepetsera mwatsatanetsatane, zomwe zimatha kukwaniritsa ma micron{2}}kulondola kwa malo. Ma hydraulic drive solutions, omwe amadziwika ndi kutulutsa kwake kwa torque yayikulu, ndi oyenera kuchulukira-kuchulukirachulukira, koma amakhalanso pachiwopsezo cha kuchucha kwamafuta ndipo amafunikira kuwongolera kwambiri. Minofu ya pneumatic yomwe ikubwera kapena matekinoloje opangira minofu akuwonetsa kuthekera mu gawo la ma robotic osinthika.
Pankhani yamakina opatsirana, ma rack ndi ma pinion drives ndi oyenera kuyenda kwa mzere, pomwe zochepetsera za ma harmonic kapena zochepetsera ma RV zimagwiritsidwa ntchito kwambiri polumikizana ndi ma rotary. Mapangidwe ena apadera amagwiritsa ntchito ukadaulo wokokera chingwe kapena ukadaulo wa maginito kuti akwaniritse kutumizirana mauthenga, komwe, ngakhale kuli kokwera mtengo, kumafunikira kusamalidwa pang'ono. Zochititsa chidwi, kupita patsogolo kwaukadaulo{2}}kuchepetsa kudalira njira zamagalimoto zamagalimoto, zomwe zimapangitsa kuti mapulatifomu azikhala osavuta komanso odalirika.
Hierarchical Control System Complexity
Kuvuta kwa ma aligorivimu owongolera kumawonjezeka kwambiri ndi kuchuluka kwa madigiri a ufulu. Madigiri{{1}madigiri atatu-a-mapulatifomu a ufulu nthawi zambiri amakwaniritsa zofunikira ndi njira yosavuta ya PID, pomwe madigiri{{4}madigirii-a{6}}aufulu asanu ndi limodzi amafunikira njira zotsogola zotsogola, monga ma adaptive control kapena sliding mode control. Mapulogalamu omwe ali ndi nthawi yeniyeni{8}}yofunika kwambiri atha kugwiritsa ntchito ma FPGA kapena tchipisi tating'onoting'ono.
Masinthidwe a masensa amasiyananso kwambiri-mapulatifomu angadalire ma encoder kuti afotokoze za malo, pomwe makina apamwamba kwambiri amaphatikiza masensa amphamvu/torque, ma inertial measurement units (IMUs), ngakhalenso zowonera kuti apange multi-loop closed{2}}makina owongolera loop. Kuvuta kwa ndondomeko ya calibration kumawonjezekanso ndi chiwerengero cha madigiri a ufulu. Madigirii{{5} yetu reendo yawo’ nawo yawo’ yawo.
Kusiyanasiyana koyenera muzochitika zofananira ndikugwiritsa ntchito
Magawo osiyanasiyana-a{1}}mapulatifomu a ufulu amakhala ndi ntchito zosiyanasiyana chifukwa cha kusiyanasiyana kwawo. Madigiri -madigiri atatu-a-mapulatifomu a ufulu amagwiritsidwa ntchito popanga mizere yosavuta yolumikizirana kapena powonetsa zinthu zofunika kwambiri, zomwe zimapereka njira zotsika mtengo kwambiri-zothandiza. Madigirii{{8} {9}} mwa{10}}freedom motion platforms ndi zinthu zofunika kwambiri pa zoyeserera ndege, ma cabin a zochitika zenizeni, ndi zida zokhomerera zolondola, zomwe zimatha kupanganso movutikira.
Mapulatifomu apadera, monga-madigirii-a-a ufulu rocking table, amapangidwa kuti aziyesera zida za m'madzi, pomwe maloboti{3}}anayi-a-ofanana a ufulu amapambana-kusanja mwachangu. Njira zochiritsira zachipatala nthawi zambiri zimatenga madigiri atatu{8}wosavuta-a{10}}kukhazikitsa ufulu, kuika patsogolo chitetezo ndi chitonthozo kusiyana ndi kuyenda monyanyira. Pulogalamuyi-kusiyana kwa mapangidwe oyendetsedwa kumapangitsa "yokwanira" nthawi zambiri kukhala yothandiza kuposa "zapamwamba kwambiri."
Luso la Kulinganiza Magwiridwe ndi Mtengo
Kuwonjezeka kwa chiwerengero cha madigiri a ufulu mosapeŵeka kumabweretsa kuwonjezeka kopanda malire kwa mtengo. Ziwerengero zikusonyeza kuti madigirii- Sikisi yaufulu, nthawi zambiri imatenga kuwirikiza katatu kapena kasanu kuposa -madigirii atatu- a-amtundu waufulu wamtundu womwewo, osaphatikizapo zowongolerera zovuta komanso ndalama zokonzera. M'mafakitale, mainjiniya nthawi zambiri amagwiritsa ntchito kusanthula kwa kinematic kuti adziwe kuchuluka kofunikira kwa madigiri a ufulu, kupeza kukwanira bwino pakati pa kukhutitsidwa kwa magwiridwe antchito ndi mtengo-mwachangu.
Kusamaliranso ndichinthu chofunikira kwambiri-zigawo zosuntha zambiri kumatanthauza kuthekera kwakukulu kolephera komanso njira zovuta zokonzera. Ntchito zina zovutirapo za chilengedwe, monga makina amigodi, zitha kuchepetsa mwadala kuchuluka kwaufulu kuti zitsimikizire kudalirika kwadongosolo. Filosofi yopangidwa mwanzeruyi ikutikumbutsa kuti kusankha madigiri-ochuluka-ya-ya pulatifomu yaufulu kuyenera kutengera zofunikira pakugwiritsa ntchito.
Tsogolo Lachitukuko ndi Kulumikizana Kwaukadaulo
Panopa,{{0}madigiri{1}ambiri-a{2}}mapulatifomu akupita ku nzeru, kupepuka, ndi kusinthasintha. Kukhazikitsidwa kwa ma algorithms anzeru opangira kumathandizira nsanja kuti ikwaniritse zoyenda yokha, pomwe kugwiritsa ntchito zida zatsopano kukupitilizabe kupititsa patsogolo kuchuluka kwa katundu. Lingaliro la mapangidwe a modular limalola nsanja kuti iwonjezere mosavuta magawo ake a ufulu kutengera kufunikira. Njira iyi ya "masinthidwe pakufunika" ikhoza kukonzanso miyezo yamtsogolo yamakampani.
Tikulonjeza kuti kuphatikiza kwaukadaulo wa digito ndi {{0}madigiri{1}}a{2}}zaulere kumathandizira kuti anthu azigwiritsa ntchito mwanzeru komanso kuyang'anira patali. Ndi kukwera kwa metaverse concept, malire ogwiritsira ntchito{{4}mkulu-olondola sikisi-madigirii sikisi-a-mwa{8}}mapulatifomu aufulu m'magawo a virtual interaction akukulitsidwa mosalekeza. Zochitika zaukadaulo izi zikusonyeza kuti{10}madigiri{11}}ambiri{12}}a{12}}mapulatifomu a ufulu adzawonetsa kufunikira kwake m'magawo ambiri.
