Iqonga - leDoF sisixhobo esinomatshini okwaziyo ukushukuma okuntsonkothileyo kwendawo. Owona msebenzi wayo kukulinganisa okanye ukuphindaphinda ukuziphatha okuguquguqukayo kwezinto ezikwisithuba esine-dimensional-ngeezembe ezilawulekayo ezizimeleyo zentshukumo. La maqonga asetyenziswa ngokubanzi kuqeqesho lokulinganisa, amava olonwabo, uvavanyo lwamashishini, ukuvuselelwa kwezonyango, kunye nezinye iinkalo. Isiseko sabo esisebenzayo sixhomekeke ngokukodwa ekusebenzeni okudityanisiweyo kweemodyuli ezine eziphambili: uyilo lwesakhiwo somatshini, iinkqubo zokuqhuba, iinkqubo zokulawula, kunye nemodeli ye-kinematic.
Ubume boomatshini: uMthwali woMzimba wamaDanga eNkululeko
Ubume bomatshini beqonga - leDoF sisiseko esibonakalayo sokusebenza kwayo. Ngokuqhelekileyo iquka amakhonkco amaninzi, amajoyina, okanye iisilinda zombane, ukufezekisa ukuguqulela kunye nokujikeleza kwentshukumo kwiindlela ezahlukeneyo ngokusebenzisa isicwangciso esithile sejometri. Ulungelelwaniso lwe-DOF oluqhelekileyo lubandakanya i-DOF ezintathu (ezifana ne-pitch, roll, kunye ne-yaw), i-DOF ezintandathu (uguqulo ecaleni kwee-axes ze-X/Y/Z kunye nojikelezo olujikeleze izembe ezintathu), nangaphezulu. Umzekelo, iqonga le-Stewart (i-classic six-i-DoF parallel mechanism) idibanisa amaqonga aphezulu nasezantsi ngeesilinda zombane ezitsalwayo ezintandathu, inika amandla isindululo esidityanisiweyo samakhonkco ukuphumeza{5}}ulungelelwaniso oluchanekileyo lwesithuba sesithuba. Uyilo lwesakhiwo somatshini kufuneka silinganise ukuqina, umthamo womthwalo, kunye noluhlu lokunyakaza, ngelixa unciphisa ukuphazamiseka kokudibanisa phakathi kweedigri zenkululeko ukuqinisekisa ukunyakaza okuzimeleyo kunye nokuzinza.
Inkqubo yokuqhuba: Undoqo woNgeniso lwamandla
Inkqubo yokuqhuba inika amandla afunekayo kwintshukumo yeqonga. Uhlobo lwayo kunye nokusebenza kuchaphazela ngokuthe ngqo isantya sokuphendula seqonga, ukuchaneka, kunye nomthamo womthwalo. Iindlela zokuqhuba eziqhelekileyo ziquka umbane (njenge-servo motor + ibhola screw okanye i-linear motor), i-hydraulic (i-thrust eyenziwa yi-hydraulic cylinders), kunye ne-pneumatic (usebenzisa umoya oxinzelelweyo). Ukuqhuba kombane kube yeyona nto iphambili ekukhetheni -idigri zanamhlanje--zenkululeko{6}} yamaqonga ngenxa yolawulo oluchanekileyo, ugcino olulula, kunye nokulungelana kokusingqongileyo. I-Hydraulic drive ifanelekile kwimithwalo emikhulu (efana ne-flight simulators), kodwa iyakwazi ukunyanzeliswa ukuvuza kweoli kunye nokugcinwa okunzima. I-pneumatic drive inikezela ngeendleko ezisezantsi kodwa inengxaki yokuchaneka okulambathayo kunye nozinzo, iyenza isetyenziswe ikakhulu kukukhanya{9}usetyenziso olunomthwalo oneemfuno zentshukumo ezibalelwa kancinci. Ukukhethwa kwenkqubo yokuqhuba kufuneka kumiselwe ngokusekelwe kwiimfuno zomthwalo, ukuhamba rhoqo, kunye neemfuno zokuchaneka kwemeko ethile.
Inkqubo yokulawula: "Ingqondo" yeNgcaciso yeMotion
Inkqubo yolawulo yi "nerve center" yemulti-degree degree{1}}of{2}}freedom platform, inoxanduva lokuguqulela imiyalelo yesindululo ekujoliswe kuyo kwiintshukumo ezichanekileyo zeyunithi nganye yokuqhuba. Amacandelo ayo angundoqo aquka abenzi boluvo (njengeencoders, gyroscopes, kunye ne-force sensors), umlawuli (ofana ne-PLC okanye ikhompyutha ye-industrial), kunye nesofthiwe ye-algorithmic. Ngokuqokelela idatha yengxelo yexesha lokwenyani enjengendawo yeqonga, isantya, kunye nokukhawulezisa, inkqubo yolawulo itshintsha ngokuguquguqukayo iiparamitha zokuqhuba isebenzisa i-algorithms evaliweyo -efana nolawulo lwe-PID okanye imodeli ephambili yolawulo loqikelelo) ukuze kuqinisekiswe ukuba umzila wentshukumo uhambelana nethagethi esetwe kwangaphambili. Kumaqonga amathandathu {{8}edigri{9}}ze{10}}enkululeko, intshukumo elungelelanisiweyo yeyunithi nganye yokuqhuba kufuneka ibalwe kusetyenziswa i-algorithms yekinematics eguqukileyo (efana ne-Denavit{11}}indlela yeparamitha ye-Hartenberg) ukufumana ulawulo oluchanekileyo lweendawo ezintsonkothileyo zesithuba. Ngaphaya koko, iisistim zolawulo zangoku zihlala zidibanisa abantu{13}}ujongano lomatshini, ukuxhasa iindlela ezahlukeneyo zokusebenza ezifana nokufundisa ngesandla{14}}ngaphakathi, inkqubo{15}}engaphambili, kunye nokuvuselela umqondiso wangaphandle.
I-Kinematic Modeling: iSiseko seMathematika soPhumezo loMsebenzi
Umfuziselo weKinematic ubonelela ngesiseko sethiyori kuyilo olusebenzayo lwamaqonga amaninzi-edigri{1}}{2}}zenkululeko. Isebenzisa iimodeli zemathematika ukuchaza ubudlelwane phakathi kwejometri yeqonga kunye neeparamitha ezishukumayo. Imodeli ye-kinematics eya phambili ibala ukumisa kwendawo yendawo yokuphela kweqonga ngokusekelwe kwigalelo kwijoyinti ngalinye (elifana nobude besilinda sombane kunye ne-engile yemoto). Imodeli yekinematics eguqukileyo isombulula ingxaki ebuya umva{6}}ifumana isindululo esikhethekileyo esifunekayo kwiyunithi nganye yokuqhuba ngokusekelwe kwinjongo ekujoliswe kuyo. Umzekelo, kwisithandathu -seqondo{9}}se{10}}senkululeko ye-Stewart yeqonga, isisombululo se-kinematics esiphambeneyo kufuneka sithathele ingqalelo ukudityaniswa phakathi kolwandiso kunye nokuhlehliswa kweesilinda zombane ezintandathu kunye neqonga lokuguqulela kunye nokujikeleza kweqonga. Oku ngokuqhelekileyo kuphunyezwa ngokuphindaphindwa kwamanani okanye iindlela zohlalutyo lwejometri. Imodeli echanekileyo ye-kinematic ayisebenzisi kuphela iiparamitha zoyilo lweqonga (ezifana nobude bekhonkco kunye noyilo oludityanisiweyo) kodwa iphucula ixesha lokwenyani{14}}ukusebenza kwenkqubo yolawulo, iyenze ibe licandelo elibalulekileyo ekuqinisekiseni ukuthembeka kweqonga.
Ukwandiswa kokuSebenza: Ukusuka kwiSiseko ukuya kwiZicelo
Ngokusekwe phezu kwezi modyuli ezingundoqo ezisebenzayo, ezininzi-izidanga{1}}ze{2}}amaqonga enkululeko anokwandiswa ukuhlangabezana neemfuno ezahlukeneyo. Umzekelo, kwicandelo lokonwabisa (elifana ne-VR bhanyabhanya eshukumayo), iqonga lidibanisa impendulo ebonwayo kunye neshukumayo ukomeleza ukuntywiliselwa -ngokuphindaphindiweyo, okuncinci{5}}iintshukumo zeamplitude. Kuvavanyo lwamashishini (njengokulinganisa ukuphahlazeka kweemoto), iqonga kufuneka limelane nemithwalo yempembelelo ephezulu kwaye liphindaphinde iimeko zokusebenza ezigqithisileyo. Kunyango, isantya esisezantsi{8}, iintshukumo ezithobelayo zisetyenziswa ukunceda izigulana kuqeqesho lokusebenza kwamalungu. Ezi meko zosetyenziso zibeka iimfuno eziphezulu kusetyenziso olongezelelweyo lweqonga (ezifana nengxelo yokunyanzelisa,{10}}ungqamaniso lweqonga, kunye nembono esebenzisanayo yokusingqongileyo), kodwa undoqo wayo usaxhomekeke kwinkqubo esisiseko yokusebenza komatshini, ukuqhuba, ukulawula, kunye nomzekelo.
Ngamafutshane, isiseko esisebenzayo seqonga-loninzi{1}}lo{2}}lenkululeko lilele ekudityanisweni kwe-organic yolwakhiwo lomatshini, inkqubo yokuqhuba, inkqubo yolawulo, kunye nemodeli yekinematic. Kuphela ngolungelelwaniso olulungelelanisiweyo lwezi modyuli apho kunokufezekiswa{4}}ukuchaneka okuphezulu, intshukumo yendawo enamandla kakhulu, ngaloo ndlela ixhasa ukusetyenziswa kwayo ngokubanzi kuphando lwenzululwazi, ubunjineli, kunye nemimandla yabathengi. Kwixesha elizayo, ngophuhliso lwezixhobo ezitsha (ezinje ngealloyi ezikhaphukhaphu), ulawulo olukrelekrele (olufana ne-AI adaptive algorithms), kunye ne-sensor technologies, imida esebenzayo ye-multi{6}}degrees{7}} -yamaqonga enkululeko iya kwandiswa ngakumbi, ibonelela ngezisombululo zokulinganisa eziguqukayo kwiimeko ezinzima ngakumbi.
