LRPT-06D100K-A Payload Holimo Ho 100Kg e phahameng ea hexapod

LRT high load hexapod ke karabelo e potlakileng, e nepahetse haholo, 'me e tšehetsoa ke sehlopha se matla le se nang le boiphihlelo. Re fa bareki tharollo e felletseng-! Phepelo e lekaneng, ho romelloa ka potlako, ho tsamaisoa ka nako, ho fana ka lihlahisoa le lits'ebeletso tsa boleng, Lihlahisoa tsa rona li etsoa ka liteko tse thata, boleng bo tšepahalang, ho amoheloa ho buisana.

Sistimi ea taolo ea turntable e amohela sistimi e felletseng ea taolo ea servo ea dijithale. Sesebediswa sa ho metha maikutlo se lekanya-maemo a nnete a sethala se ka hodimo. Ka ho bala ho sisinyeha, boemo ba taelo ea sethala se ka holimo bo ikemiselitse. Khomphuta e behang leihlo e romela boemo ba taelo ho microcontroller ka Ethernet. Ha a fumana litaelo tsa parameter ea motsamao, microcontroller e etsa phetoho ea mofuta oa motsamao oa sebaka. E sebelisa computation ea kinematics e fapaneng, e lekanya lebelo la koloi ea koloi, e fetisetsoang ho mokhanni ka bese. PC e ka hare ea mokhanni e sebetsana le tlhahisoleseling ebe e khanna koloi ea motlakase, e lumellang sethala ho fihlela boemo bo khethiloeng. Sesebelisoa se kentsoeng mochineng oa motlakase se lemoha torque, lebelo, le lintlha tsa boemo ka nako ea sebele, ebe se li romela ho mokhanni. Seseteme e koetsoeng ea{10}}loop control system e netefatsa taolo e nepahetseng{11}} ea nako ea 'nete ea angle rotation ea enjene. Boitsebiso bo boetse bo fetisetsoa ho microcontroller, e sebelisang computation e fapaneng ho fumana boemo ba hona joale ba sethala se ka holimo e le sesupo sa lipalo.

 

 

Bophahamo bo boholo ba ho jara Bo bolokehileng le bo ka tšeptjoang E tiile ebile e tšoarella

 

DOF	Range	Lebelo	Ho potlakisa
Pitch	± likhato tse 13	± 30 likhato /s	± 150℃/s2
Qheketsa	± likhato tse 13	± 30 likhato /s	± 150℃/s2
Yaw	± likhato tse 15	± 30 likhato /s	± 150℃/s2
Sway	±0.10m	0.5m/s	5m/s2
Ho phahama	±0.10m	0.5m/s	5m/s2
Phahamisa	±0.08m	0.5m/s	5m/s2

 

Yuniti:mm

Boima ba 'mele:145kg

Mmala:Ntsho

Boitsebiso: Aluminium motsoako + Tšepe

Lekhetho:100kg

Boholo:1026mm*1185mm*750mm

Boholo ba Payload: Ka tlase ho kapa ho lekana le1000mm*1000mm*400mm

Mokhoa oa ho kenya: Sekoti se khoele

Mounting Hole Distance: Iketsetse

 

 

Litlhoko tsa matla	Matla a Lekanyelitsoeng: 220V AC(Range:-10% -10%)
	E lekantsoe khafetsa: 50hz(Range: -5% -5%)
	Matla a lekantsoeng: 1.8kw
	Matla a phahameng: 2.4kw
Tikoloho Litlhoko	Sebaka sa polokelo: Mocheso: -30-65 likhato Mongobo:5%-95% Khatello ea sepakapaka: 85-108Kpa Boemo ba Tšireletso: IP54
	Tikoloho ea mosebetsi: Mocheso: -20-50 likhato Mongobo:5%-95% Khatello ea sepakapaka: 85-108Kpa Boemo ba Tšireletso: IP54

 

 

Moralo oa Tšireletseho ea Mechanical Structural Safety:
Likarolo tsohle tsa thepa ea bohlokoa-li entsoe ho latela maemo a sesole a naha, ka moralo oa mochini oa ts'ireletseho e seng ka tlase ho 3.0 le moeli oa koloi o seng ka tlase ho 3.0.

Likarolo tsa Tšireletso ea Moqapi oa Motlakase:
Ho netefatsa ts'ebetso e bolokehileng le e ts'eptjoang ea sistimi le ho thibela ts'enyo ea sethala haeba sistimi e ka hloleha, ho kengoa tšebetsong-mehato e meraro ea ts'ireletso: ts'ireletso ea software, ts'ireletso ea potoloho, le ts'ireletso ea hardware.

Tšireletso ea Software:

Joalo ka boemo ba pele ba ts'ireletso, ts'ireletso ea software ke ts'ireletso ea mantlha ebile e sebetsa nakong ea ts'ebetso ea software ea taolo ea sistimi. Moetsong oa liteko oa sethala sa tsamaiso ea lisoftware, ho behiloe menyako bakeng sa sebaka se phahameng sa ho tsamaea, lebelo la ho sebetsa, le lebelo la koloi ho thibela ho thunya ho feteletseng ho bakoang ke{1}}ka lebaka la ho tsamaea kapa ho feta lebelo nakong ea ts'ebetso ea koloi.

Tšireletso ea Potoloho:

Joalo ka karolo ea bobeli ea ts'ireletso, ts'ireletso ea potoloho e sebetsa nakong ea matla a sistimi-nakong ea ho sebetsa. Setsi sa tsamaiso ea motlakase se beha litekanyo bakeng sa boleng ba khoutu ea motlakase, lebelo le phahameng, ho potlakisa, le boholo ba tlhahiso ea hona joale ho thibela ho tlōla ho bakoang ke koloi ho feta lebelo. Ho feta moo, li-switches tsa moeli li kentsoe maemong a bohlokoa haholo. Mokhoa oa potoloho oa li-switches tsena tsa moeli o amana le koloi. Ha likarolo tse tsamaeang tsa sisteme li fihla maemong a feteletseng, tlhahiso e ka morao ea koloi ea tima ho thibela ho feta-maeto nakong ea screw motion.

Tšireletso ea Hardware:

E le karolo ea boraro le e phahameng ka ho fetisisa ea tšireletso, tšireletso ea hardware e sebetsa ho pholletsa le bophelo bohle ba tsamaiso ka mor'a ho kenya le ho amoheloa. E etsa bonnete ba hore tlas'a boemo leha e le bofe, mohaho oa sethala sa liteko o lula o tiile, lisebelisoa tsa tlhahlobo ea basebelisi ha li senyehe, 'me mohaho oa sethala o lula o sireletsehile tlas'a maemo ohle a ho sebetsa le a polokelo.

Likarolo tse Eketsehileng tsa Tšireletso:

Sistimi e na le mesebetsi e felletseng ea ts'ireletso ea ts'ireletso, joalo ka ha e thathamisitsoe ka tlase:

Konopo ea ho Emisa Boemo ba Tšohanyetso ba Console:
Nakong ea ts'ebetso, haeba maemo a sa tloaelehang a fumanoa, motho ea sebetsang ka kamoreng ea ho laola a ka tobetsa konopo ea tšohanyetso ea ho emisa hang-hang ho emisa lisebelisoa le ho boloka boemo ba hona joale.

Konopo ea ho Emisa Console:
Nakong ea ts'ebetso, haeba maemo a sa tloaelehang a fumanoa, mosebeletsi a ka tobetsa konopo ea ho emisa hang-hang ho emisa lisebelisoa le ho boloka boemo ba hona joale.
Ho hloleha ho Matla ka Motlakase le Tšireletso e Khutšoane- ea Potoloho bakeng sa Platform ea Teko:
Haeba motlakase oa 220V o hloleha kapa potoloho e khuts'oane, lebone la sesupo lea tima, brake ea enjene ea kenella, 'me sesebelisoa se boloka boemo ba sona ba hajoale.

Tšireletso ea Motlakase oa Motlakase:
Sisteme ea servo motor e khona ho sebetsana le boima ba makhetlo a 3. Haeba koloi e lemoha hore koloi e tletse, e etsa hore ho be le lets'oao la alamo, e tšoara brake ea motlakase, 'me thepa e boloka boemo ba eona ba hona joale.

Automatic Motor Over{0}}Tsireletso ea Mocheso:
Haeba koloi e lemoha mocheso o phahameng ka ho feteletseng oa motlakase, e hlahisa lets'oao la alamo, e tšoara brake ea enjene, 'me thepa e boloka boemo ba eona ba hona joale.

Tšireletso ea Phoso ea Motlakase oa Automatic Motor Encoder:
Ha enjene e feta lebelo, sethala, kapa ts'ebetso e feteletseng, koloi e bona phoso ea encoder, ea hlahisa lets'oao la alamo, ea kenya brake ea enjene, 'me sesebelisoa se boloka boemo ba sona hajoale.

Tšireletso e Ikemetseng ea Khaello ea Hona Joale:
Haeba hona joale koloi e jara, e etsa hore ho be le lets'oao la alamo, e kenya brake ea enjene, 'me sesebelisoa se boloka boemo ba sona ba hajoale.

Automatic Drive Overvoltage Protection:
Haeba koloi e e-na le matla a mangata, e hlahisa lets'oao la alamo, e kenya brake ea enjene, 'me thepa e boloka boemo ba eona ba hajoale.

Automatic Drive Over{0}}Tsireletso ea Mocheso:
Haeba mocheso oa koloi o phahame ka mokhoa o feteletseng, o etsa hore ho be le letšoao la alamo, o kenya brake ea motlakase, 'me thepa e boloka boemo ba eona ba hona joale.

Tšireletso ea ho Khetholla Moeli oa Moeli o Ikemetseng:
Ha likarolo tse tsamaeang tsa sethaleng sa liteko li fihla boemong bo feteletseng, k'homphieutha ea ho khanna le ho laola ka nako e le 'ngoe e thibela lipontšo tsa pele tsa ho kenya letsoho, ho lumella ho tsamaea feela ho tloha sebakeng se feteletseng.

Tšireletso ea Moeli oa Motlakase oa Motlakase:
Nakong ea ts'ebetso, haeba tsamaiso ea taolo e lemoha lebelo le fetang moeli, brake ea motlakase e kenella, 'me thepa e boloka boemo ba eona ba hona joale.

Tšireletso ea Moeli oa Moeli oa Motlakase oa Motlakase:
Nakong ea ts'ebetso, haeba tsamaiso ea taolo e lemoha ho potlakisa ho feta moeli, brake ea motlakase e kenella, 'me thepa e boloka boemo ba eona ba hona joale.

Tšireletso ea Phoso ea Lipuisano tsa Libese tsa CAN ka Othomathike:
Nakong ea ts'ebetso, haeba tsamaiso ea taolo e lemoha phoso ea puisano ea libese ea CAN, brake ea motlakase e kenella, 'me thepa e boloka boemo ba eona ba hona joale.

Tšireletso ea Phoso ea Marang-rang e Ikemetseng:
Nakong ea ts'ebetso, haeba tsamaiso ea taolo e lemoha phoso ea puisano ea marang-rang, brake ea motlakase e kenya letsoho, 'me thepa e boloka boemo ba eona ba hona joale.

Taolo e Ikemetseng ea Tšireletso ea Phoso ea Khomphutha:
Nakong ea ts'ebetso, haeba k'homphieutha e hlokomelang ha e bone karabo e tsoang k'homphieutheng e kholo ea taolo, brake ea motlakase e kenella, 'me thepa e boloka boemo ba eona ba hona joale.

 

Hexapod ke sistimi e ikhethileng e khonang ho etsisa ho sisinyeha hohle ha ntho sebakeng se{0}}karolo. Lebitso la eona le bonahatsa ka ho toba mosebetsi oa eona: ho fana ka likhato tse tšeletseng tse ikemetseng tsa bolokolohi ba ho tsamaea.

Likhato tsena tse tšeletseng li kenyelletsa likhato tse tharo tsa tokoloho ea tokoloho le likarolo tse tharo tsa tokoloho:

 

 

• Mekhahlelo e meraro ea Tokoloho ea Phetolelo:

 

1.Heave: Motsamao o otlolohileng ho bapa le Z-axis (ho ea holimo le tlase).
2.Sway: Ho sisinyeha ha morao tseleng ea Y-(ka ho le letšehali le ka ho le letona).
3.Surge: Longitudinal movement ho latela X-axis (ho ea pele le morao).

 

 

• Likhato tse tharo tsa Rotational tsa Tokoloho:

 

4. Yaw: Fetola ho potoloha Z-axis (ho thinyetsa ka ho le letšehali le ka ho le letona).
5. Phatlalatso: Potoloho ho potoloha Y-axis (ho sutumetsa pele le morao).
6. Fetola: Potoloha ho potoloha X-axis (ho sekamela ka lehlakoreng le leng).

 

Mofuta o tloaelehileng ka ho fetisisa oa sethala sa 6-DOF se sebelisa sebopeho sa Stewart Platform, mofuta oa mochine o tšoanang oa roboto. Likarolo tsa eona tsa mantlha li kenyelletsa:

 

Molao-motheo oa ho sebetsa:
Sisteme ea taolo e lekanya bolelele bo nepahetseng e 'ngoe le e 'ngoe ea lisilindara tse tšeletseng tsa motlakase e hlokang ho atolosoa kapa ho huleha ho latela tsela eo o e batlang. Ho lelefatsa le ho khutsufatsoa ho hokahaneng ha lisilindara tsena tse tšeletseng ho sutumelletsa le ho hula sethala se holimo ka bonngoe, ho kopanya motsamao o rarahaneng o hlokahalang ho pholletsa le likhato tsohle tse tšeletseng tsa tokoloho. Ka mohlala, ho etsisa sefofane ha se phahama, tsamaiso e ne e tla laela meqomo e ka pele hore e atolosoe le meqomo e ka morao hore e hohele morao.

 

 

 

 

Ka lebaka la bokhoni ba bona bo ikhethang ba ho sisinyeha, 6-Liplatemo tsa DOF li bohlokoa haholo mafapheng a mangata a maemo a holimo:

 

 

• Li-Flight Simulators: Ts'ebeliso ea khale, e fang bafofisi ba lifofane maikutlo a 'nete bakeng sa ho tloha, ho lula, moferefere le sefofane.

 

• Driving Simulators: E sebelisetsoa ho etsisa ts'ebetso ea likoloi, litanka le likepe, bakeng sa tlhahlobo ea ts'ebetso ea koloi, koetliso ea bakhanni le prototyping ea sebele.

 

• Libaka tsa Lifilimi / Lipalangoang tsa Boithabiso: Fana ka liphihlelo tsa boithabiso tse qoelisang, tse susumetsang bamameli ho lumellana le ketso ea filimi.

 

Lipatlisiso le Teko:

 

• Vibration Simulation: Ho etsisa litlamorao tsa litšisinyeho tsa lefats'e, mahoashe a litsela, joalo-joalo, meahong kapa lisebelisoa.

 

• Ketsiso ya Boikutlo: E sebedisetswa tekolo{{0}e thehilweng hodima maikutlo a disathelaete, sefofa-sebakeng, dinakana, jj.

 

• Precision Machining & Docking: E ​​sebelisoa mesebetsing e tsoetseng pele ea ho etsa le ho kopanya e hlokang-tokiso e nepahetseng ea boemo bo holimo.

 

 

Joalo ka ha u ithutile pejana, li-cylinders ke li-actuator tsa mantlha tse etsang sethala sa 6-DOF se phahameng. Ts'ebetso ea sethala (mohlala, ho nepahala, lebelo, matla) ka kotloloho e ipapisitse le ts'ebetso ea li-cylinders tsa motlakase tse sebelisitsoeng. Ho feta moo, mesebetsi ea bohlokoa ea ts'ireletso ea ts'ireletso (e kang li-switches, ts'ireletso ea boima bo feteletseng, ho emisa ts'ohanyetso) bakeng sa sistimi e rarahaneng joalo e tsamaellana hantle le moralo oa polokeho le mehopolo ea ts'ireletso ea motlakase eo u e botsitseng pejana.

 

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