Monga zida zamakono zowongolera zoyenda molongosoka, -madigiri{1}}ambiri-a nsanja zaufulu, zomwe zimatha kusintha malingaliro awo komanso{3}}kuyika molunjika, zimathandizira kwambiri pazochitika monga kuyerekezera zinthu zakuthambo, ma robotiki a mafakitale, kukonzanso zamankhwala, komanso kutha kwa ntchito zomwe zimatsimikizira momwe magwiridwe antchito amagwirira ntchito. Miyezo yayikulu yoyezera momwe ntchitoyi ikuyendera imaphatikizanso zizindikiro zokhazikika (monga kuchuluka kwa katundu ndi kulondola kwa malo) ndi mawonekedwe osinthika (monga liwiro la kuyankha ndi kusalala koyenda).
I. Tanthauzo Laumisiri la Zizindikiro Zakugwiritsiridwa Ntchito Koyambira
Kuchita kwa-madigiri{1}ambiri-a nsanja yaufulu kumawonekera makamaka ndi kuthekera kwake kopeza ufulu{3}}osiyanasiyana. Madigiri atatu{{5}wodziwika-a{7}}a ufulu (kumasulira kwa XYZ) amatha kukwaniritsa zofunikira, koma ntchito zapamwamba (monga zoyeserera ndege ndi ma robotic end-ya-kuyika mkono) nthawi zambiri zimafuna kuwongolera kogwirizana kwa madigiri sikisi a ufulu (XYZ translation + yaw/pitch/roll rotation) kapena kupitilira apo) Mwachitsanzo, pulatifomu yoyeserera ya mlengalenga imafunikira magawo asanu ndi limodzi a ufulu kuti abwereze molondola kusintha kwa kaimidwe mu chilengedwe cha microgravity kudzera muulamuliro wogwirizana, kuyika zofunikira kwambiri pakuwongolera kwapang'onopang'ono pakati pa gawo lililonse laufulu.
Chiŵerengero cha kuchuluka kwa katundu ndi kuuma ndi chizindikiro china chofunikira. Mapangidwe a nsanja ayenera kukhala osasunthika kwambiri ndikuwonetsetsa kuchuluka kwa katundu (kuyambira ma kilogalamu angapo mpaka matani matani). Nthawi zambiri, pansi pa katundu wambiri, mawonekedwe a nsanja ayenera kukhala osachepera submillimeter. Kupanda kutero, kulondola kwa malo kwa woyambitsa mapeto kudzakhudzidwa mwachindunji. Mwachitsanzo, -malo oyendera mafakitale olemera kwambiri amaphatikiza chimango cha aluminiyamu ya uchi ndi zinthu zophatikizika ndi mpweya, kuchepetsa kulemera kwinaku akuwonjezera kuuma konseko ndi 30%.
Kuyika kulondola ndi kubwerezabwereza kumawonetsa mwachindunji malire a dongosolo lolamulira. Madigiri-ochuluka apano-madigiri-a-mapulatifomu omasuka, kudzera-yankho lotsekeka kuchokera ku masikelo owoneka bwino/ma laser interferometers komanso kuphatikiza-ma servo motors okwera kwambiri (kapena ma linear motors), amatha kukhala olondola ± μm ndi kubwereza ± μm mobwerezabwereza. Kulondola uku ndikofunikira pakuyika kwawafer mu zida zonyamula za semiconductor chip ndikusintha zida mumaloboti ang'onoang'ono.
II. Kuchita Kwamphamvu: Kuchokera Kuthamanga Kwamayankho kupita ku Ubwino Woyenda
Pakatikati pa machitidwe osinthika agona pakutha kwa nsanja kutsata ma siginecha olamula mwachangu. Bandwidth (kawirikawiri mafupipafupi omwe dongosolo limatsika mpaka -3dB) limatsimikizira kuchuluka kwa kuwongolera komwe nsanja ingayankhe. Kukwera kwa bandiwifi, m'pamenenso nsanja imatha kutsatira-mawu pafupipafupi (monga kutsata maginito mwachangu pakuchita VR). Pakadali pano, nsanja zamakampani{7}zikuluzikulu zili ndi bandwidth ya 50-100Hz, pomwe zogulira mu labotale zapitilira chizindikiro cha 200Hz kudzera munjira zotsogola zamagalimoto ndi njira zochepetsera kugwedezeka.
Makhalidwe othamanga nawonso ndi ofunikira. Zowoneka zapamwamba{{1}zowoneka bwino (monga kuchulukira kolimba koyeserera ndege) zimafuna kuti nsanja izitulutsa mathamangitsidwe (mpaka 5g kapena kupitilira apo) pakanthawi kochepa. Izi sizingofunika kachulukidwe wa torque wokwera kuchokera pagalimoto komanso kapangidwe kake kopepuka kuti muchepetse katundu wa inertial. Mwachitsanzo, mtundu wina wa -madigirii atatu-a-pampando wa freedom dynamic umagwiritsa ntchito chigoba cha carbon fiber ndi hollow linkage mechanism, kuchepetsa kulemera kwake ndi 40% kwinaku ikusunga mphamvu, potero imathandizira kuthamanga kwambiri ndi kutsika.
Kusuntha kosalala ndikofunikira kwambiri kwa ogwiritsa ntchito. Pogwiritsa ntchito-curve velocity planning algorithm (m'malo mwa trapezoidal acceleration), nsanjayi imaletsa kugwedezeka ndi kunjenjemera poyambira-mmwamba ndi kuyimitsa. Kuyambika kwa umisiri wothira madzi (monga{4}}kusintha mayankho a nthawi yeniyeni potengera masensa a mphamvu) kumachotsanso kugwedezeka pang'ono kobwera chifukwa cha kuseweredwa kwa makina kapena kusokoneza kwakunja, kuwonetsetsa kuti mayendedwe akuyandikira masamu oyenera.
III. Kupambana Kwaukadaulo: Luntha ndi Kuphatikizana
Pokhala ndi zofunikira pakugwiritsa ntchito, kukhathamiritsa kwa magwiridwe antchito a -madigiri{1}}ambiri-a{2}}ndalama zaufulu kukupita patsogolo mpaka kuwongolera mwanzeru ndi kuphatikiza makina. Kumbali imodzi, ma algorithms a AI (monga neural network PID control ndi adaptive filtering) amagwiritsidwa ntchito kubwezera zinthu zosokoneza monga kusamvana kosagwirizana ndi kutentha kwanthawi yayitali, kuwonetsetsa kuti nsanja imakhalabe yolondola kwambiri pakapita nthawi-nthawi yayitali. Kumbali ina, kufalikira kwa ma modular design concepts (monga kuphatikiza ma actuator, masensa, ndi controller kukhala unit imodzi yolumikizana) kwapangitsa kuti kusanjika ndi kukonza ma degree{6}}ambiri{7}}a{8}}a ufulu.
Komanso, kugwiritsa ntchito njira zatsopano zamagalimoto (monga ultra-precision micro-motion with piezoelectric ceramic motors and zero-contact wear with magnetically levitated linear motors) kwafutukula malire a magwiridwe antchito a nsanja. Yoyamba imathandiza kuti -kusiyanitse anthu ndi nanometer{5}}kusefukira, pamene yotsirizirayi imathetsa vuto la m'mbuyo lomwe limakhudzana ndi makina oyendera magetsi,
Kupereka mwayi kwatsopano{{0}kwapamwamba-zowona zenizeni.
Mapeto
Kuchita bwino kwa -madigirii{1}ambiri-a nsanja zaufulu ndi zotsatira za-zotsogola zotsogola zamakanika, ma algorithms owongolera, ndi sayansi yazinthu. Kuchokera ku "dzanja lolondola" lopanga mafakitale kupita ku "mlatho womiza" wa zenizeni zenizeni, luso lililonse laukadaulo limayendetsa magawo okhudzana ndi kulondola kwambiri komanso kulumikizana kowonjezereka. M'tsogolomu, ndi kulumikizana kozama kwa luso lanzeru komanso luso lowongolera, -madigiri{7}}ochuluka-a{8}}mapulatifomu a ufulu akuyembekezeka kukhala gawo lofunika kwambiri pakupanga zinthu mwanzeru komanso zachilengedwe, kutanthauziranso malire aukadaulo a "flexible motion."
