Sankhani chilankhulo Malo amakono opanga mafakitale ali ndi malo omwe mwachibadwa amadana ndi kupezeka kwa anthu. Kuchokera m’makonde ang’onoang’ono, okhala ndi ma radiation a malo opangira zida zanyukiliya zomwe zatheratu kupita ku mapaipi amatope otsetsereka a m’madera akutali amafuta, kufunikira koyang’anizana kodalirika kwakutali sikunakhalepo kokulirapo. Chofunika kwambiri pakusintha kwaukadaulo uku ndi adatsata loboti yoyendera , makina opangidwa kuti azipita kumene mawilo amalephera ndipo anthu amalephera kupondaponda. Mosiyana ndi nsanja zamawilo zomwe zimadalira mphamvu yokoka komanso njira zomveka bwino, makina apaderawa amagwiritsa ntchito kuyenda kosalekeza kugawa kulemera ndikukulitsa kukhudzana. Kusintha kopita ku kuyendera kodziyimira pawokha komanso kodziyimira pawokha sikungochitika kokha pakuchita bwino; ndicho chisinthiko chofunikira pachitetezo ndi kasamalidwe ka chiwopsezo cha zomangamanga zapamwamba.
Ukulu wa a adatsata loboti yoyendera muzochitika izi makamaka chifukwa cha kuthekera kwake kosamalira malo "osakhazikika". Mu labotale, gudumu ndi mfumu; komabe, mumsewu wa mgodi wogwa kapena ngalande yogwiritsidwa ntchito ndi madzi osefukira, nthaka sikhala yathyathyathya. Zopinga ngati zinyalala zotayirira, mitsinje yotsetsereka, ndi matope akuya zimakhala ngati zotchinga zopinga zachikhalidwe. Mosiyana ndi izi, ndondomeko yotsatiridwa imapanga njira yakeyake. Malo akuluakulu pamtunda wa njanji amatsimikizira kuti loboti siimamira muzitsulo zofewa, pamene njira zowonongeka zowonongeka zimapereka makina osakanikirana oyenera kukwera pa zopinga zomwe zimakhala zazikulu kuposa kutalika kwa galimoto ya robot. Izi zimapangitsa nsanja yotsatiridwa kukhala ngwazi yosatsutsika yoyendetsa kwambiri zachilengedwe.
Kupirira Kwaumisiri kudzera mu Advanced Robot Track Geometry
Pamtima pa nsanja iliyonse yopambana yam'manja pali njira ya robot , chigawo chomwe chimagwira ntchito ngati cholumikizira pakati pa luntha la makina ndi dziko lapansi. Mapangidwe a mayendedwe awa ndi kusinthasintha kwamphamvu, kusinthasintha, ndi kukangana. Wopangidwa bwino njira ya robot Iyenera kupirira mphamvu zazikulu zometa ubweya pamene loboti itembenuza "skid-steer" - njira yomwe njanji imazungulira ukuloboti kuti izungulire loboti pamalo ake. Kutha kusunthaku m'mizere yakeyake ndikofunikira pa ntchito zoyendera m'malo othina, monga mkati mwa mitsinje yayikulu yamadzi kapena pakati pa mizere yamakina a mafakitale.
Zomangamanga zamkati za njira ya robot imatsimikiziranso mphamvu zonse za dongosololi. Akatswiri amayang'ana pa phula ndi kulimbikitsa njanji kuti awonetsetse kuti mphamvu yochokera ku ma drive motors imaperekedwa pansi ndikutayika pang'ono. M'mawonekedwe apamwamba kwambiri, njanjiyo nthawi zambiri imapangidwa ndi "zodziyeretsa" matumba omwe amakhetsa matope ndi zinyalala pamene akuzungulira mozungulira sprocket. Izi zimalepheretsa kupangika kwa zinthu zomwe zingayambitse "njira yoponyedwa," njira yolephera yomwe ingasiye loboti yamtengo wapatali ili m'malo osafikirika. Poika patsogolo kukhulupirika kwamakina a njanji, opanga amapereka mlingo wodalirika womwe ndi wofunika kwambiri kwa mishoni kumene kuchira sikuli njira.
Ubwino Wamakina a Nyimbo za Caterpillar za Maloboti
Lingaliro la kuponda kosalekeza silatsopano, koma kugwiritsa ntchito mayendedwe a mbozi kwa maloboti wawona kudumpha kwakukulu kwaukadaulo waukadaulo. Mwachizoloŵezi, machitidwewa amagwirizanitsidwa ndi akasinja olemera ndi mathirakitala aulimi, omwe amadziwika ndi phokoso lalikulu komanso kulemera kwakukulu. Ma robotiki amakono achepetsa ndikuwongolera ukadaulo uwu, ndikupanga makina opepuka, okwera kwambiri omwe amapereka luso lokwera modabwitsa. Nyimbo za Caterpillar za maloboti amalola makina amenewa kuyenda masitepe, mipiringidzo, ndipo ngakhale zopinga zoimirira ndi mlingo wokhazikika umene maloboti a mawilo atatu kapena anayi sangathe kukwaniritsa.
Kukhazikika kumeneku kumachitika chifukwa cha "kutsika kwapansi" komwe kumapangidwa ndi mbozi. Chifukwa kulemera kwa loboti kumafalikira kudera lalikulu, makinawo sangathe kuyambitsa masensa kapena kugwa pamalo osalimba akamayendera. Kuwongolera zinyalala zowopsa, iyi ndi gawo lofunikira lachitetezo. Komanso, mayendedwe a mbozi kwa maloboti perekani mfundo zosafunikira zolumikizana. Ngati mbali imodzi ya njanjiyo itaya mphamvu pa mafuta kapena ayezi, kutalika kotsalira kwa njanjiko nthawi zambiri kumakhala ndi mikangano yokwanira kuti makinawo apite patsogolo. Kudalirikaku ndichifukwa chake magulu oyankha mwapadera ndi akatswiri opanga zomangamanga amasankhira makina omwe amatsata pomwe mtengo wolephera uli wokwera.
Sayansi Yazinthu ndi Kusiyanasiyana kwa Nyimbo za Rubber Robot
Ngakhale njanji zachitsulo ndizoyenera kumanga molemera, dziko loyang'anira zida zowunikira zimadalira kwambiri. nyimbo za rabara za robot . Kusankhidwa kwa mphira-nthawi zambiri kumakhala kochuluka kwambiri, kophatikizana kosiyanasiyana-kumapereka ubwino wapadera womwe umakhala wofunikira kwambiri m'nyumba zamkati ndi zapadera. Njira zama robot amapereka zinthu zabwino kwambiri zonyowetsa, zomwe zimateteza zida zamagetsi zomwe zili m'mwamba, monga makina ojambulira a LiDAR ndi makamera owoneka bwino kwambiri, kuti asagwedezeke pamiyala yosafanana. Kudzipatula kwa vibration kumeneku n'kofunika kwambiri kuti mujambule deta yomveka bwino, yogwiritsidwa ntchito poyendera.
Komanso, nyimbo za rabara za robot osakwatiwa ndi chete. M'chipinda choyeretsa, chipatala, kapena malo opangira chakudya, robot iyenera kugwira ntchito zake popanda kuwononga epoxy pansi kapena kupanga phokoso la phokoso lomwe limasokoneza ntchito. Kugwira kwapamwamba kwa rabara kumapangitsa kuti loboti ikwere zitsulo zosalala kapena kuyendetsa matailosi onyowa popanda kutsetsereka. Opanga nthawi zambiri amapaka njanjizi ndi mankhwala apadera kuti azitha kugonjetsedwa ndi mafuta, ma asidi, ndi kutentha kwambiri, kuonetsetsa kuti nyimbo za rabara za robot musanyoze mukakumana ndi mankhwala owopsa omwe amapezeka m'ma sumps a mafakitale kapena malo osungiramo mankhwala.
Kuyanjanitsa Mphamvu ndi Precision Robot Track Wheels
Gawo lomaliza la chithunzithunzi cha locomotion ndikuphatikizana kwapamwamba kwambiri mawilo a robot . Awa si magudumu achikale m’lingaliro lakuti amakhudza pansi; m'malo, iwo ndi sprockets mkati ndi idlers kuti amatsogolera, mavuto, ndi kuyendetsa njanji palokha. Mapangidwe a mawilo a robot ndikofunikira kuti mupewe "kusokoneza". Gudumu loyendetsa liyenera kukhala ndi mawonekedwe olondola a mano omwe amalumikizana bwino ndi mayendedwe amkati a njanjiyo kuti asaterere, makamaka panthawi yokwera ma torque.
Mu patsogolo adatsata loboti yoyendera , mawilo osagwira ntchito nthawi zambiri amaikidwa pa njira yoyimitsidwa yomwe imalola njanji kuti igwirizane ndi mawonekedwe a chopinga chomwe chikuwoloka. Kusuntha kwa "conformal" uku kumatsimikizira kuti kuchuluka kwa kupondaponda kumakhalabe kolumikizana ndi nthaka nthawi zonse. Kuphatikiza apo, zinthu zomwe zimagwiritsidwa ntchito mawilo a robot —nthawi zambiri mapulasitiki a Ultra-high-molecular-weight (UHMW) kapena aluminiyamu ya anodized-amasankhidwa kuti achepetse kulemera ndi kukangana. Pochepetsa kukana kwamkati kwa ma wheel-ndi-track, mainjiniya amatha kufutukula moyo wa batri la loboti, kulola kuti azitha kuyang'ana nthawi yayitali m'malo akuluakulu apansi panthaka kapena pamtunda wamapaipi.
Malo amakono opanga mafakitale ali ndi malo omwe mwachibadwa amadana ndi kupezeka kwa anthu.
