LRPT-06D100K-A Umthwalo oPhezulu ukuya kwi-100Kg yomthwalo ophezulu wehexapod

I-LRT yomthwalo ophezulu we-hexapod yimpendulo ekhawulezayo, ichanekile ephezulu, kwaye ixhaswa liqela lobugcisa elinamandla nelinamava. Sibonelela abathengi ngezisombululo ezipheleleyo-zokuma! Unikezelo olwaneleyo, ukuthunyelwa ngokukhawuleza, ukuhanjiswa kwangexesha, ukubonelela ngeemveliso ezisemgangathweni kunye neenkonzo, Iimveliso zethu ngovavanyo olungqongqo, umgangatho othembekileyo, wamkelekile ukubonisana.

Inkqubo yokulawula i-turntable ithatha inkqubo yokulawula i-servo yedijithali ngokupheleleyo. Isixhobo sokulinganisa isimo silinganisa elona -ixesha lokuma kweqonga eliphezulu. Ngokubala kwentshukumo, ukuma komyalelo weqonga eliphezulu kumiselwa. Ikhompyutheni yokubeka iliso ithumela umyalelo wokumisa kwi-microcontroller nge-Ethernet. Emva kokufumana imiyalelo yepharamitha eshukumayo, i-microcontroller yenza ukuguqulwa kwemodeli yentshukumo yendawo. Ukusebenzisa i-inverse kinematics computation, ibala i-angle ye-motor rotation angle, ethunyelwa kumqhubi ngebhasi. I-PC yangaphakathi yomqhubi iqhuba ulwazi kwaye iqhube i-motor yombane, ivumela iqonga ukuba lifikelele kwisimo esichongiweyo. I-encoder efakwe kwimoto yombane ibona i-torque, isantya, kunye nolwazi lwendawo ngexesha lokwenyani, iyithumele kumqhubi. Inkqubo yolawulo{10}}evaliweyo iqinisekisa{11}}ulawulo lwexesha lokwenyani lwe-engile yokujikeleza kwemoto. Ulwazi lukwadluliselwa kwi-microcontroller, esebenzisa i-computitation e-inverse ukumisela ukuma kwangoku kweqonga eliphezulu njengesalathisi sokubala.

 

 

Umthamo omkhulu wokuthwala ukhuselekile kwaye uthembekile womelele kwaye uya kuhlala ixesha elide

 

DOF	Uluhlu	Isantya	Ukukhawulezisa
I-pitch	± 13 isidanga	±30 isidanga /s	±150 isidanga / nges2
Roll	± 13 isidanga	±30 isidanga /s	±150 isidanga / nges2
Yaw	± 15 isidanga	±30 isidanga /s	±150 isidanga / nges2
Sway	±0.10m	0.5m/s	5m/s2
Surge	±0.10m	0.5m/s	5m/s2
Phezulu	±0.08m	0.5m/s	5m/s2

 

Iyunithi:mm

Ubunzima:145kg

Umbala:Mnyama

Izinto: Ingxubevange yeAluminiyam + Intsimbi

Ukuhlawula:100kg

Ubungakanani:1026mm*1185mm*750mm

Ubungakanani bomthwalo wentlawulo: Ngaphantsi okanye obulingana ne1000mm*1000mm*400mm

Indlela yokuhlohla: Umngxuma onemisonto

Umgama woMngxuma oNyusayo: Lungiselela

 

 

Iimfuno zamandla	Umbane olinganisiweyo: 220V AC(Uluhlu:-10% -10%)
	Ulinganiso lwamaxesha: 50hz(Uluhlu:-5% -5%)
	Amandla alinganisiweyo: 1.8kw
	Amandla encopho: 2.4Kw
Okusingqongileyo Iimfuno	Indawo yogcino: Ubushushu: -30-65 degree Ukufuma:5%-95% Uxinzelelo lwe-atmospheric: 85-108Kpa Inqanaba loKhuselo:IP54
	Indawo yokusebenza: Ubushushu: -20-50 degree Ukufuma:5%-95% Uxinzelelo lwe-atmospheric: 85-108Kpa Inqanaba loKhuselo:IP54

 

 

Uyilo loKhuseleko loLwakhiwo lweMechanical:
Zonke izinto ezingundoqo- ezithwele amacandelo ziyilwe ngokuhambelana nemigangatho yelizwe yomkhosi, kunye noyilo lomatshini lokhuseleko lwento engekho ngaphantsi kwe-3.0 kunye nomda wokuqhuba ongekho ngaphantsi kwe-3.0.

Iimpawu zoKhuseleko kuyilo loMbane:
Ukuqinisekisa ukusebenza okukhuselekileyo nokuthembekileyo kwenkqubo kunye nokuthintela umonakalo kwisakhiwo seqonga kwimeko yokungaphumeleli kwenkqubo, umsebenzi wokukhusela inqanaba lesithathu: ukhuseleko lwesoftware, ukhuseleko lwesekethe, kunye nokhuseleko lwehardware.

Ukhuseleko lweSoftware:

Njengenqanaba lokuqala lokhuseleko, ukhuseleko lwesoftware lolona khuselo lusisiseko kwaye lusebenza ngexesha lolawulo lwenkqubo yesoftware. Kuyilo lwenkqubo yolawulo lweqonga lovavanyo, iithresholds zibekelwe owona mgama mkhulu wokuhamba, isantya sokusebenza, kunye nokukhawuleziswa kwemoto ukuthintela ukudubuleka okungaphezulu{1}}kukuhamba okanye ngaphezulu kwesantya ngexesha lokusebenza kwemoto.

Ukhuseleko lweSekethe:

Njengomgangatho wesibini wokhuseleko, ukhuseleko lwesekethe lusebenza ngexesha lamandla enkqubo-kwixesha lokusebenza. Isilawuli se-motor drive drive siseta imida yexabiso lekhowudi yokuphuma kwemoto, isantya esiphezulu, ukukhawuleza, kunye nesiphumo esikhulu sangoku ukuthintela ukudubuleka okubangelwa yimoto ngaphezulu kwesantya. Ukongeza, iiswitshi zomda zifakwe kwiindawo ezibaluleke kakhulu. Ingqiqo yesekethe yolu tshintsho lomda idityaniswe kwi-drive. Xa amalungu enkqubo eshukumayo afikelela kwindawo egqithisileyo, imveliso ebuyela umva ye-drive ivaliwe ukunqanda ngaphezulu-ukuhamba ngexesha lokushukuma kwesijirufu.

Ukhuseleko Lwezixhobo:

Njengomgangatho wesithathu kunye nomgangatho ophezulu wokukhusela, ukukhuselwa kwe-hardware kusebenza kuyo yonke i-lifecycle yenkqubo emva kokufakwa kunye nokwamkelwa. Iqinisekisa ukuba phantsi kwayo nayiphi na imeko, ulwakhiwo lweqonga lovavanyo luhlala luqinile, izixhobo zokuvavanya umsebenzisi zingonakaliswa, kwaye isakhiwo seqonga sihlala sikhuselekile phantsi kwazo zonke iimeko zokusebenza kunye nokugcinwa.

Iimodyuli ezongezelelweyo zoKhuseleko:

Inkqubo ixhotyiswe ngemisebenzi yokhuseleko olubanzi, njengoko idweliswe ngezantsi:

Iqhosha lokumisa likaNgxamiseko lweConsole:
Ngethuba lokusebenza, ukuba iimeko ezingaqhelekanga zifunyenwe, umqhubi kwigumbi lokulawula unokucofa iqhosha lokumisa ngokukhawuleza ukumisa izixhobo kunye nokugcina indawo yangoku.

Iqhosha lokumisa iConsole:
Ngexesha lokusebenza, ukuba iimeko ezingaqhelekanga zifunyenwe, umqhubi unokucofa iqhosha lokumisa ngokukhawuleza izixhobo kunye nokugcina indawo yangoku.
Ukusilela koMbane okuzenzekelayo kunye noKhuselo olufutshane- lweSekethe yeQonga loMfuniselo:
Kwimeko yokungaphumeleli kwamandla e-220V okanye isiphaluka esifutshane, ukukhanya kwesalathisi kuyacima, i-motor brake idibanisa, kwaye izixhobo zigcina indawo yayo yangoku.

Ukhuseleko lokuNxibelela kwiMoto oluzenzekelayo:
Inkqubo ye-servo motor inokusingatha amaxesha ama-3 ukugqithiswa. Ukuba i-drive ibona i-motor overload, ibangela isignali ye-alamu, ifake i-motor brake, kwaye isixhobo sigcina indawo yayo yangoku.

Okuzenzekelayo kwiMoto Ngaphezulu{0}}Ukhuseleko loBuqondo:
Ukuba i-drive ibona ubushushu obuphezulu bemoto, ibangela isiginali ye-alam, ibambe ibhuleki yemoto, kwaye isixhobo sigcina indawo ekuyo ngoku.

UKhuseleko lweFault yeFault yeMoto ezenzekelayo:
Kwimeko yemoto phezu kwesantya, isitali, okanye impembelelo egqithisileyo, i-drive ifumanisa impazamo ye-encoder, ibangele isignali ye-alarm, ifake i-motor brake, kwaye isixhobo sigcina indawo yayo yangoku.

UKhuseleko oluSebenzayo lwangoku loKhuseleko:
Ukuba i-drive current overloads, ibangela isignali ye-alamu, ifake i-motor brake, kwaye isixhobo sigcina indawo yayo yangoku.

UKhuseleko oluSebenzayo lweDrayiva ngokugqithisileyo:
Ukuba i-drive ifumana i-overvoltage, ibangela isignali ye-alamu, ifake i-motor brake, kwaye isixhobo sigcina indawo yayo yangoku.

UkuQhuba Okuzenzekelayo Ngaphezulu{0}}Ukhuseleko Lobushushu:
Ukuba iqondo lokushisa lokuqhuba liphezulu kakhulu, libangela isignali ye-alamu, ifake i-motor brake, kwaye isixhobo sigcina indawo yayo yangoku.

UKhuseleko lokuFunyaniswa koMda wokuTshintsha:
Xa iinxalenye ezihambayo zeqonga lokulinga zifikelela kwindawo egqithisileyo, i-drive kunye nokulawula ikhomputha ngaxeshanye ivimba imiqondiso yentshukumo yokufaka igalelo, ivumela kuphela ukunyakaza kude kwindawo egqithisileyo.

UKhuseleko oluzenzekelayo loMda wesantya seMoto:
Ngethuba lokusebenza, ukuba inkqubo yokulawula ibona isantya esidlula umda, i-motor brake idibanisa, kwaye izixhobo zigcina indawo yayo yangoku.

UKhuseleko oluSebenzayo lokuKhawulezisa uMda weMoto:
Ngethuba lokusebenza, ukuba inkqubo yokulawula ibona ukukhawuleza ngaphaya komda, i-motor brake idibanisa, kwaye izixhobo zigcina indawo yayo yangoku.

UKhuseleko lweFault yoNxibelelwano lweBhasi lwe-CAN oluzenzekelayo:
Ngethuba lokusebenza, ukuba inkqubo yokulawula ifumanisa impazamo yokunxibelelana kwebhasi ye-CAN, i-motor brake ibandakanyeka, kwaye izixhobo zigcina indawo yayo yangoku.

UKhuseleko lweFault yoNxibelelwano oluSebenzayo:
Ngethuba lokusebenza, ukuba inkqubo yokulawula ibona impazamo yonxibelelwano lwenethiwekhi, i-motor brake idibanisa, kwaye izixhobo zigcina indawo yayo yangoku.

Ulawulo oluPhezulu oluzenzekelayo loKhuseleko lweFault yeKhompyutha:
Ngexesha lokusebenza, ukuba ikhompyuter yokubeka iliso ayifumani mpendulo kwikhompyuter yolawulo oluphambili, i-motor brake ibandakanyeka, kwaye isixhobo sigcina indawo yayo yangoku.

 

IHexapod yinkqubo ekhethekileyo ekwaziyo ukulinganisa zonke iintshukumo ezinokubakho zento kwisithuba esinemilinganiselo emithathu. Igama layo libonisa ngokuthe ngqo umsebenzi walo: ukubonelela ngamadigri amathandathu azimeleyo enkululeko yokuhamba.

Ezi zidanga zintandathu ziquka iidigri ezintathu zokuguqulela zenkululeko kunye neziqu ezithathu zenkululeko:

 

 

• Amanqanaba amathathu eNkululeko yokuGuqulela:

 

1.Heave: Intshukumo ethe nkqo ecaleni kwe-Z-i-axis (phezulu nasezantsi).
2.Sway: Intshukumo yasemacaleni ecaleni komgca ongu-Y-(ekhohlo nasekunene).
3.Surge: intshukumo yobude ecaleni kwe X-axis (phambili nangasemva).

 

 

• Amanqanaba amathathu eNkululeko ajikelezayo:

 

4. Yaw: Jikelezisa malunga ne-Z{1}}i-axis (ujiko ekhohlo nasekunene).
5. I-pitch: Ujikezo malunga ne-Y{1}}axis (enqwala phambili nangasemva).
6. Roll: Jikelezisa u-X{1}}i-axis (icala elithambekileyo ukuya kwelinye).

 

Olona hlobo luqhelekileyo lweqonga le-6-DOF lisebenzisa i-Stewart Platform configuration, uhlobo lwendlela yerobhothi ehambelanayo. Amacandelo ayo aphambili aquka:

 

UmGaqo wokuSebenza:
Inkqubo yokulawula ibala ubude obuchanekileyo nganye kwiisilinda zombane ezintandathu kufuneka zandiswe okanye zirhoxe ngokusekelwe kwindlela eshukumayo efunekayo. Ukwandiswa nokunciphisa okulungelelanisiweyo kwezi cylinder zintandathu kutyhala kwaye kutsale iqonga eliphezulu ngaxeshanye, kudibanisa intshukumo entsonkothileyo efunekayo kuwo onke amaqondo amathandathu enkululeko. Ngokomzekelo, ukuze inqwelo-moya iphakame, inkqubo yokulawula ibiya kuyalela ukuba imibhobho yangaphambili yandiswe ize imisilinda yangasemva irhoxe.

 

 

 

 

Ngenxa yesakhono sazo sokushukuma esikhethekileyo, 6-amaqonga e-DOF ayimfuneko kwimimandla emininzi ephezulu:

 

 

• IiFlight Simulators: Usetyenziso lwakudala, olubonelela abaqhubi beenqwelomoya ngengxelo yokwenyani ye-kinesthetic yokumka, ukuhla, isiphithiphithi, kunye ne-aerobatics.

 

• Izilingisi zokuqhuba: Isetyenziselwa ukulinganisa ukusebenza kweemoto, iitanki, kunye neenqanawa, kuvavanyo lokusebenza kwemoto, uqeqesho lokuqhuba, kunye neprototyping ebonakalayo.

 

• Iithiyetha ezishukumayo / ukuHamba koLonwabo: Nikezela ngamava okonwabisa antywilayo, ushukumisa abaphulaphuli ukuba bahambelane nentshukumo yefilimu.

 

UPhando noVavanyo:

 

• Ukulinganisa iVibration: Ukulinganisa iziphumo zeenyikima, uburhabaxa bendlela, njl., kwizakhiwo okanye izixhobo.

 

• Isimo Sengqondo Sokulinganisa: Isetyenziselwa{0}isiseko sovavanyo lokulinganisa isimo sengqondo sesathelayithi, isiphekepheke, ieriyali, njl.njl.

 

• Ukuchaneka koMatshini kunye nokuDock: Isetyenziswa kwimveliso ephezulu kunye neenkqubo zendibano ezifuna uhlengahlengiso oluphezulu-lokuchaneka kokuma.

 

 

Njengoko ubufundile ngaphambili, iisilinda zombane zezona zixhobo ziphambili ezenza umgangatho ophezulu-wokusebenza we-6-DOF. Ukusebenza kweqonga (umzekelo, ukuchaneka, isantya, amandla) ngokuthe ngqo kuxhomekeke ekusebenzeni kweesilinda zombane ezisetyenzisiweyo. Ngaphaya koko, imisebenzi ebalulekileyo yokhuseleko lokhuseleko (efana nokutshintsha umda, ukhuseleko lomthwalo omninzi, ukumiswa kwexesha likaxakeka) yale nkqubo intsonkothileyo ilungelelaniswa ngokugqibeleleyo noyilo lokhuseleko kunye neengqikelelo zokhuseleko lombane obubuze ngazo ngaphambili.

 

Iifayile ezishisayo: LRPT-06D100K-Umthwalo oPhezulu ukuya kwi-100Kg yomthwalo ophezulu wehexapod, eTshayina LRPT-06D100K-A Umthwalo oPhezulu ukuya kwi-100Kg abavelisi behexapod