Joalo ka lisebelisoa tsa mantlha taolong ea sejoale-joale e nepahetseng ea motsamao, -digrii tse ngata-tsa{2}}platform ea{2}}ea tokoloho, ka bokhoni ba bona ba ho feto-fetoha ha maikutlo le{3}}maemo a nepahetseng hantle, ba bapala karolo e ke keng ea nkeloa sebaka maemong a kang papiso ea sepakapaka, liroboto tsa indasteri, ntlafatso ea bongaka, le ts'ebetso ea ts'ebetso e nepahetseng ka kotloloho. Litekanyo tsa bohlokoa tsa ho lekanya ts'ebetso ena li kenyelletsa matšoao a mabeli a tsitsitseng (joalo ka matla a mojaro le ho nepahala ha boemo) le litšobotsi tse matla (tse kang lebelo la ho arabela le ho tsamaea ha bonolo).
I. Tlhaloso ea Theknoloji ea Lipontšo tsa Ts'ebetso ea Core
Ts'ebetso ea -maemo a mangata-ea-platform ea tokoloho e bonahala haholo-holo ka bokhoni ba eona ba ho fihlela tokoloho ea motsamao e mengata{3}. Maqhubu a tloaelehileng a likhato tse tharo{{5}tsa-ea{7}}tokoloho (phetolelo ea XYZ) a ka kopana le litlhoko tsa mantlha tsa boemo, empa lits'ebetso tse tsoetseng pele (joalo ka liemeli tsa sefofane le sebaka se rarahaneng sa robotiki-ea-ho beha matsoho) hangata li hloka taolo e kopanetsoeng ea tokoloho ea likhato tse tšeletseng (phetolelo ea XYZ + yaw/pitch/roll rotation) kapa ho feta Mohlala, sethala sa ketsiso sa sepaka-paka se hloka likhato tse tšeletseng tsa tokoloho ho pheta ka nepo liphetoho tsa boemo ba tikoloho tikolohong ea microgravity ka taolo e hokahaneng, ho beha litlhoko tse phahameng haholo taolong e arohaneng lipakeng tsa tekanyo e 'ngoe le e 'ngoe ea tokoloho.
Karo-karolelano ea matla a mojaro ho satalla ke sesupo se seng sa bohlokoa. Moralo oa sebopeho sa sethala o tlameha ho boloka botsitso bo phahameng ha o ntse o netefatsa boima bo lekaneng ba mojaro (ho tloha ho lik'hilograma tse 'maloa ho isa ho mashome a lithane). Ka tloaelo, tlas'a mojaro o felletseng, deformation ea elastic ea sethala e tlameha ho ba tlase ho submillimeter. Ho seng joalo, ho nepahala ha boemo ba phello ea ho qetela ho tla ameha ka ho toba. Mohlala,-sethala se boima sa tlhahlobo ea liindasteri se kopanya foreimi ea aluminium ea mahe a linotši le lisebelisoa tsa motsoako oa carbon fiber, ho fokotsa boima ba 'mele ha ho ntse ho eketsa ho satalla ka kakaretso ka 30%.
Ho beha ho nepahala le ho pheta-pheta ho bonahatsa ka ho toba meeli ea tsamaiso ea taolo. Hajoale-digree tse ngata- tsa boemo bo phahameng-tsa-plalatefomo ea tokoloho, ka mokhoa o koetsoeng-loop maikutlo ho tsoa ho optical scales/laser interferometers 'me a kopantsoe le{6}}resolution servo motors (kapa linear motors), a ka finyella maemo a ± μm ka ho feletseng ± μm ho nepahala le ho pheta-pheta. Boemo bona ba ho nepahala bo bohlokoa bakeng sa ho beoa ha wafer ka har'a lisebelisoa tsa semiconductor chip packaging le ho qhekella ha lisebelisoa lirobotong tsa microsurgical.
II. Ts'ebetso e Matla: Ho tloha Lebelong la Karabelo ho ea ho Boleng ba Motion
Moko-taba oa ts'ebetso e matla o holim'a bokhoni ba sethala ba ho latela matshwao a taelo kapele. Bophahamo ba limithara (hangata boholo boo sistimi e fumanang chelete e theohelang ho -3dB) bo lekanya boholo ba taolo eo sethala se ka arabelang ho eona. Ha bandwidth e phahame, sethala se ka latela ka nepo-litaelo tsa khafetsa (tse kang ho latella boitšisinyo ba VR ka potlako). Hajoale, lipolanete tsa maemo a holimo{7}} tsa liindasteri li na le bandwidth ea 50-100Hz, athe lihlahisoa tsa laboratori li bile li feta letšoao la 200Hz ka mekhoa e ntlafalitsoeng ea ho khanna koloi le meralo ea ho fokotsa ho sisinyeha.
Litšobotsi tsa ho potlakisa le tsona ke tsa bohlokoa. {{1}maemo a hodimo{{1}a maemo a hodimo (jwalo ka ho tjeka thipa e matla ho simulators ya sefofane) a hloka hore sethala se hlahise ka lebelo le phahameng (ho fihla ho 5g kapa ho feta) ka nako e kgutshwane. Sena ha se hloke feela matla a torque e phahameng ho tsoa ho enjene empa hape le moralo o bobebe oa sebopeho ho fokotsa meroalo e sa sebetseng. Mohlala, mofuta o itseng oa-digree tse tharo-ea-setulo se matla sa dynamic se sebelisa carbon fiber shell and hollow linkage mechanism, e fokotsa boima ba eona ka 40% ha e ntse e boloka matla, ka hona e tšehetsa metsamao e matla ea ho potlakisa le ho theola lebelo.
Motion smoothness ke ea bohlokoa ho boiphihlelo ba mosebelisi. Ka ho sebelisa S-curve velocity planning algorithm (ho e-na le ho potlakisa trapezoidal ea khale), sethala se kokobetsa ho makala le ho thothomela nakong ea ho qala{2}}le ho emisa. Kenyelletso ea thekenoloji e sebetsang ea ho fokotsa matla (joalo ka{4}}ho fetola maikutlo a nako e thehiloeng holim'a li-sensor tsa matla) hape e felisa jitter e nyane e bakoang ke papali ea mochini kapa tšitiso ea kantle, e netefatsa hore motsamao o batla o lekana le mofuta o nepahetseng oa lipalo.
III. Tsoelo-pele ea Theknoloji: Bohlale le Kopanyo
Ka litlhokahalo tse ntseng li fetoha tsa ts'ebeliso, ntlafatso ea ts'ebetso ea-digrii tse ngata{{1}tsa{2}}ea{2}}ea sethala e ntse e tsoela pele ho lebisa taolong e bohlale le khokahanyo ea sistimi. Ka lehlakoreng le leng, li-algorithms tsa AI (tse kang neural network PID control le adaptive filtering) li sebelisetsoa ho lefella lintlha tsa tšitiso tse kang khohlano e sa tloaelehang le deformation ea mocheso ka nako ea sebele, ho netefatsa hore sethala se boloka ho nepahala ho phahameng nakong ea nako e telele{4}} ea ts'ebetso. Ka lehlakoreng le leng, ho amohelwa ho hoholo ha menahano ya moralo wa modular (jwalo ka ho kopanya di-actuator, sensors, le controller hore e be yuniti e le nngwe e kopanetsweng) ho nolofaditse haholo kgokahano le tlhokomelo ya{6}}digrii tse ngata{7}}tsa{8}}tsamaiso ya tokoloho.
Ho feta moo, ts'ebeliso ea mahlale a macha a ho khanna (joalo ka ultra-precision micro-e nang le li motors tsa piezoelectric ceramic le zero-liaparo tsa khokahanyo tse nang le mehala ea makenete) e atolositse meeli ea ts'ebetso ea sethala. Ea pele e nolofalletsa taolo e nyane- ea phalliso ka nanometer{5}}ka tharollo ea boemo, athe ea morao-rao e felisa bothata ba ho khutlela morao bo amanang le phetisetso e tloaelehileng ea mochini,
e fana ka menyetla e mecha bakeng sa{0}e phahameng-maemo a nepahetseng.
Qetello
Ntlafatso ea ts'ebetso ea-maemo a mangata-ea{2}}ea{2}}polalate ea tokoloho e hlile e bakiloe ke mekhoa e fapaneng-ea khalemelo ea sebopeho sa mochini, li-algorithms tsa taolo, le mahlale a lisebelisoa. Ho tloha "letsohong le nepahetseng" la tlhahiso ea indasteri ho ea "borokhong ba ho qoelisoa" ba 'nete ea sebele, katleho e' ngoe le e 'ngoe ea theknoloji e tsamaisa likarolo tse amanang le ho nepahala le ho ntlafatsa likamano. Nakong e tlang, ka khokahanyo e tebileng ea temoho e bohlale le mekhoa ea ho laola maemo, -mekhahlelo e mengata{7}}ea-ea tokoloho e lebelletsoe ho fetoha setsi sa mantlha lefapheng la tlhahiso-pele le lefahla la dijithale, tse hlalosang bocha meeli ea tekhenoloji ea "flexible motion."
