Maemo{{0}a mangata-a-platform ea tokoloho (MDF) ke sesebelisoa sa machane se khonang ho tsamaea ka tsela e rarahaneng. E sebelisoa haholo papisong, litekong tsa indasteri, tokiso ea bongaka, le liphihlelo tsa boithabiso. Bohlokoa ba eona ke ho etsisa boitšoaro bo matla tikolohong ea 'nete ka ho sebelisa-taolo e fapaneng ea ho sisinyeha, ho fa basebedisi maemo a qoelisang kapa a holimo{6}} a nepahetseng a holimo. Sengoliloeng sena se tla tšohla melao-motheo ea moralo, mahlale a bohlokoa, mekhoa e tloaelehileng, le maemo a ts'ebeliso ea liforomo tsa MDF.
I. Melao-motheo ea Motheo le Khethollo ea Li-Platform tsa MDF
Matebo a MDF ha e le hantle a fumana motsamao o feto-fetohang sebakeng se-ka ho kopanya lilepe tse ngata tse laolehang (joalo ka phetolelo le ho potoloha). Ho ipapisitsoe le palo ea likhato tsa tokoloho, li ka aroloa ka mefuta e meraro{{2}ea{3}}ea-tokoloho (3-DOF) le -likarolo tse tšeletseng{8}tsa{11}}mefuta ea tokoloho (6-DOF). Li-platform tsa DOF tse tšeletseng ke mofuta o atileng haholo, o khonang ho laola ka nako e le 'ngoe ho falla ha mela e meraro (X/Y/Z) le li-angles tse tharo tse potolohang (rola, sekontiri, le eaw).
Ho ipapisitsoe le mokhoa oa ho khanna, -digrii tse ngata{1}}tsa{2}mathala a tokoloho a arotsoe ka mekhahlelo e 'meli:
1. Phetiso ea mechine: Tsena li itšetlehile ka li-cylinders tsa hydraulic, li-actuator tsa motlakase, kapa li-motors tsa servo ho khanna mochine oa khokahanyo. Li fana ka moroalo o matla-ka matla a ho jara le ho tsitsa ha sebopeho, ho etsa hore li tšoanelehe bakeng sa lisebelisoa tse boima (joalo ka liemeli tsa sefofane).
2. Mokhoa o ts'oanang (joalo ka sethala sa Stewart): Tsena li sebelisa motsamao o lumellanang oa makala a mangata ho lokisa boemo ba sethala. Li fana ka karabelo e nepahetseng haholo le ka potlako, 'me hangata li sebelisoa bakeng sa ho beha maemo ka nepo le ho lokisa{2}}hantle.
II. Mekhoa ea Bohlokoa ea Setekheniki bakeng sa-Digree-ea-Libaka tsa Tokoloho
1. Li-algorithms tsa Taolo ea Motion
Qholotso ea mantlha ea-maemo a mangata{1}ea{2}}ea tokoloho e ka har'a-taolo e kopanetsoeng ea axis coordinated. Mekhoa e tloaelehileng e kenyelletsa:
Taolo ea PID: Sena se sebelisa proportional-integral{1}}derivative control ho lokisa tlhahiso ea actuator ka 'ngoe, ho leka-lekanya lebelo la karabo le botsitso. E loketse mesebetsi ea motheo ea ho beha maemo.
Inverse kinematics: Sena se nyenyefatsa li-angles tse kopaneng kapa li-displacements tse ipapisitseng le boemo bo reriloeng. Sena se hloka motsoako oa lipalo kapa mekhoa ea tlhahlobo (joalo ka Denavit{1}}mokhoa oa paramethara ea Hartenberg) ho sebetsana le khokahanyo e sa tsitsang.
Taolo e ikamahanyang le maemo le taolo ea ho bolela esale pele: Ka matla fetola maemo a taolo ho latela liphetoho tsa mojaro kapa litšitiso tsa kantle ho ntlafatsa matla a sistimi.
2. Sensor Fusion le Feedback
Maikutlo a nepahetseng a ho sisinyeha a ipapisitse le-kopano ea lintlha tse ngata, joalo ka:
• Likh'outu: Tekolo{0}}ea 'nete ea nako ea mothapo oa koloi kapa phallo ea mela;
• Likarolo tsa Melato e Ikemetseng (IMUs): Ho fana ka lintlha tse potlakisang le tsa lebelo la angular ho thusa ho lekanya maikutlo;
• Laser rangefinders/systems view: E sebedisetsoa-ho lokisa maemo a kantle ka nepo.
Ho kopanya lintlha tse ngata-ka mokhoa oa ho sefa oa Kalman kapa neural network algorithms ho ka fokotsa haholo pokello ea liphoso.
3. Moralo oa Sebopeho le Ntlafatso ea Mechini
Ho satalla le setsi sa kabo ea matla a khoheli ea sebopeho sa mochini oa sethala se ama ka kotloloho ts'ebetso ea motsamao. Lintlha tsa moralo li kenyelletsa:
• Ho leka-lekanya boima bo bobebe le matla: Ho sebelisa carbon fiber composite kapa aluminium alloy frames;
• Mokhoa oa ho khanna ka mokhoa o utloahalang: Ka mohlala, kabo e lekanang ea makala a sethaleng sa Stewart e ka fokotsa ho se leka-lekane ha torque;
• Moralo oa ho fokotsa ho thothomela: Ho hatella-ho thothomela khafetsa ho sitisang taolo e nepahetseng.
III. Maemo a Tloaelehileng a Kopo le Mekhoa e Sebetsang
1. Koetliso ea Ketsiso ea Sefofane / Koloi
Lipalo tsa{{0}tse tšeletseng-tsa{2}}ea{2}}ea bolokolohi li fana ka tikoloho ea sebele ea koetliso bakeng sa bakhanni ba lifofane kapa bakhanni ka ho etsisa litlamorao tse kang ho potlakisa le ho sekamela. Mekhoa ea ts'ebetsong e kenyelletsa:
• Ho hlahisa li-trajectories tsa sepheo se ipapisitseng le lienjineri tsa fisiks (tse kang MATLAB/Simulink);
• Ho kopanya le lisebelisoa tsa hydraulic servo ho finyella phallo e kholo le tlhahiso ea torque;
• Ho matlafatsa 'nete ea ho sebelisana ka lisebelisoa tsa maikutlo.
2. Tlhahlobo ea Lihlahisoa tsa Liindasteri
Litekong tsa ho soahlamana ha likoloi kapa litekong tsa seismic tsa lihlahisoa tsa elektroniki, {{0}digrii tse ngata-tsa{2}}liplatemo tsa tokoloho li ka ama maemo a ts'ebetso a feteletseng. Ka mohlala:
• Ho sebelisa mekhoa e sa reroang ea ho laola ho sisinyeha ho hlahisa ponahalo e tsosang takatso e lumellanang le maemo (joalo ka ISO 16750);
• Netefatsa ho tšoarella ha sehlahiswa ka ho sebedisa disensara tse phahameng- tse nepahetseng.
3. Liroboto tsa Bongaka le Tsosoloso
Li-platform tsa koetliso ea ho tsosolosa li thusa bakuli ho tsosolosa mosebetsi oa matsoho ka mekhoa e sebetsang le e sa sebetseng. Theknoloji ea bohlokoa e kenyelletsa:
• Ho fetola amplitude ea motsamao ho latela matšoao a mokuli a electromyographic (EMG);
• Ho kenya ts'ebetsong maano a taolo a lumellanang le ho thibela kotsi ea bobeli.
IV. Litaelo tsa Nts'etsopele ea Bokamoso
Ka tsoelopele ea bohlale ba maiketsetso le thekenoloji e ncha ea thepa, -digrii tse ngata-tsa{2}}lipolanete tsa tokoloho li ntse li lebisa tlhokomelong ea hlalefo le nyenyefatso. Ka mohlala:
Re hlahisa theknoloji ea "digital twin" ho fihlella taolo ea 'nete ka nako e le ngoe-;
Ho nts'etsapele li-actuator tse bobebe tse thehiloeng ho li-alloys tsa memori ea sebopeho;
Ho atoloha ho kena masimong a ntseng a hlaha joalo ka li-manipulators tsa sepakapaka le liroboto tse ka tlas'a metsi.
Qetello
Lintlafatso tsa methodological ka {{0}degree{1}} tse ngata{{2}tsa{2}}lipolanete tsa tokoloho li ntse li tsoela pele ho sutumelletsa{3}}mahlale a batho le theknoloji ea boiketsetso. Ka kopanyo e tebileng ea khopolo ea taolo, moralo oa mochini, le lits'ebetso tse fapaneng, bokhoni ba bona bo tla hlahisoa ka mefuta e mengata e fapaneng ea maemo.
