Kwiimeko ezigqithisileyo okanye ezintsonkothileyo ekunzima ukuba abantu bahambe kuzo, iirobhothi ezinamavili emveli okanye ezilandelwayo zihlala zijongana nemiceli mngeni ebalulekileyo ngenxa yokuguquguquka komgangatho womhlaba kunye nokungazinzi. Iirobhothi ze-Hexapod, kunye noyilo lwazo olulodwa lwe-biomimetic yolwakhiwo kunye nentshukumo elungelelanisiweyo yemilenze yazo emithandathu, zibonisa ukushukuma okungaqhelekanga kunye nokuphumeza uthumo olunokubakho kumhlaba omagqagala, kwiindawo ezixineneyo, kunye nakwiindawo ezingenabo ubunzima, zisiba yitekhnoloji ekhokelayo kwimisebenzi ekhethekileyo yokusingqongileyo.
I-Bionic Advantages ye-Hexapod Structure: I-Stable and Flexible Balance
Uyilo lweerobhothi zehexapod lutsala impembelelo kwi-arthropods efumaneka kwindalo, njengamaphela kunye nezigcawu. Ezi zidalwa zisebenzisa-uqhagamshelwano olunemilenze emininzi kunye neziko eliguqukayo lolungelelwaniso lomxhuzulane ukugcina intshukumo esebenzayo kumhlaba oxekileyo, kwiintanda zamatye, nakwiindonga ezithe nkqo. iirobhothi Hexapod ilifa olu phawu core: ukuba imilenze enye okanye emibini ivalwe ngumqobo, imilenze emine eseleyo unako ukunyenyisa ukuhamba kwabo ngexesha lokwenyani ngokusebenzisa algorithms, ukwenza unxantathu oluzinzileyo ulwakhiwo inkxaso (efanayo "ukuhamba tripod" yezinambuzane) ukuthintela irobhothi ukusuka tipping phezu. Idatha yovavanyo ibonisa ukuba kwiithambeka zegrabile ezine-30℃inclination okanye kwimibhobho enobubanzi obuyi-15 cm kuphela, ireyithi yokupasa yerobhothi eyi-hexapod ingaphezulu ngama-40% ngaphezu kwelo yerobhothi emane kunye nama-70% ngaphezulu kunerobhothi enamavili.
Okubaluleke ngakumbi, ukuphindaphindwa kwesakhiwo se-hexapod kunika irobhothi ukuguquguquka okukhethekileyo kokusingqongileyo. Ngokomzekelo, kwimeko yokukhangela i-debris kunye nokuhlangula, ukuba umlenze wonakaliswe kukungqubana, inkqubo inokuphinda isasazeke ngokuzenzekelayo umthwalo, idlulisa i-30% yobunzima obuthwalwa ekuqaleni ngulo mlenze ukuya kweminye imilenze emihlanu, kwaye uqhubeke phambili ngokucwangcisa ukuhamba okuguquguqukayo (njengokutshintshana okukodwa{2}}ukutsiba komlenze kunye nokukhasa{3}} Oku "ukunyamezela umonakalo" amandla okwangoku kunzima ukuba iirobhothi ezininzi zifezekiseke.
Ukuqinisekiswa okuSebenzayo kwiiNdawo eziKhethekileyo: Ukusuka kwiMimandla yePolar ukuya kwiNdawo eNzulu
Ixabiso leerobhothi ze-hexapod libonakaliswe kwiimeko ezahlukeneyo ezigqithisileyo. Ngexesha leehambo zenzululwazi zeArctic, iqela lophando laseKhanada liphuhlise irobhothi ethi "Polar Hexapod" exhotyiswe nge-infrared thermal imager kunye nemodyuli yokwemba umkhenkce, yawela ngempumelelo i-tundra enomkhenkce kunye ne-ice crevasses kwi--40 degree, iqokelela iisampulu zoluntu lwe-subglacial echibini. Ukusebenzisa iidrones bekuya kubangela ukwehla okubukhali kubomi bebhetri ngenxa yobushushu obuphantsi, ngelixa ukuthembela kubasebenzi abangabantu bekuya kubangela umngcipheko weqhwa.
Kummandla wophononongo lwentaba-mlilo, irobhothi "iVulcan" yehexapod evela kwiYunivesithi yaseTokyo, eJapan, ixhotyiswe ngeqokobhe eliphezulu{0}}lobushushu bengxubevange yobushushu (ekwaziyo ukumelana namaqondo obushushu obuphezulu obungama-300 degree) kunye noluhlu lwesivamvo segesi, ingene nzulu kwiirim zentaba-mlilo esebenzayo ukuqokelela idatha yesulfure dioxide. Imilenze yayo emithandathu inamalungu athotywe ngamanzi, eqinisekisa ukulungelelana phantsi kweempembelelo zothuthu lwentaba-mlilo kunye nobutyobo. Isixhobo esinamavili sisesichengeni kakhulu sokuvaleleka kwiindawo ezinjalo ngenxa yobutyobo obuhlala emavilini.
Okuthembisa ngakumbi kukusetyenziswa kwendawo. Iprototype ye "Lunar Hexapod" evavanywa ngoku yiNASA ine-algorithm ye-gait ephuculweyo yomxhuzulane ophantsi (1/6 womxhuzulane woMhlaba). Umlenze ngamnye uxhotyiswe ngeankile erhoxiswayo. Ngexesha lenyathelo, irobhothi iqala ikhusela umzimba ngeankile ngaphambi kokuba iphakamise umlenze osecaleni ukuze ihambe, ithintela ukutyibilika okubangelwa ngumhlaba othambileyo wenyanga. Ukulinganisa okwenziwe ngo-2023 kubonise ukuba irobhothi yenyuka i-25℃slope yamaso eglasi eyenziwe ngomhlaba ofanisiweyo wenyanga ngokuphindwe kathathu ngokufanelekileyo kune-Apollo lunar rover, ngelixa isitya enye kuphela{8}}isihlanu samandla okugqibela.
IiBottlenecks zobuGcisa kunye noPhuculo lwexesha elizayo
Ngaphandle kwethemba elithembisayo, iirobhothi zehexapod zisajongene nemiceli mngeni emithathu: Okokuqala, uxinzelelo lokwenyani{0}}kwesigqibo sexesha{1}}lokwenza kwiimeko ezinzima. Ii-algorithms zolawulo lwemveli zinokulibaziseka xa ngaxeshanye zidibana nomhlaba othambileyo, imiqobo ephezulu, kunye neziphazamiso eziguqukayo (ezifana nomoya namanzi). Okwesibini, izithintelo zokubonelela ngombane. -Intshukumo yomthwalo ophezulu, ngakumbi kwindawo enzulu okanye kwindawo engaphantsi komhlaba ngaphandle kokutshaja ngaphandle, ibeka iimfuno eziphezulu kakhulu kumthamo webhetri. Okwesithathu, ungquzulwano phakathi kweendleko kunye ne-miniaturization. Iirobhothi zangoku eziphezulu-zehexapod zidla ngokuxabisa ngaphezulu kwesigidi seedola, zinciphisa-izinga elikhulu losasazo.
I-Academia iphakamise izisombululo ezininzi ezintsha zokulungisa le miba. Umzekelo, "i-injini ye-adaptive gait" edityaniswe nokufunda okomeleza okunzulu kwenza iirobhothi zifunde ngokuzimeleyo amaqhinga afanelekileyo entshukumo ngokulinganisa izigidi zonxibelelwano kwiindawo ezahlukeneyo. Ukusetyenziswa kwezinto eziguquguqukayo ze-biomimetic (ezifana ne-carbon fiber bionic tendons) kunciphisa ubunzima bomlenze ngelixa kuphucula ukuchasana kwempembelelo. Kwaye uyilo lwamandla emodyuli (olufana ne-micro{3}}yebhetri yenyukliya ehlanganisiweyo okanye ifilimu yelanga) yandisa ubomi bebhetri.
Kuyabonwa kwangaphambili ukuba ngenkqubela phambili kwisayensi yezinto, ubukrelekrele bokwenziwa, kunye nethiyori yolawulo, iirobhothi zehexapod ziya kuthi ngokuthe ngcembe ziguquke ukusuka "kwizixhobo ezikhethekileyo" ukuya "kumaqonga ehlabathi" okusebenza kwindawo ezizodwa. Nokuba kukuphonononga ubomi kwindawo enzulu-ekulwandle olushushu, ukucoca imimandla yokusasazeka kwemitha emva kweengozi zeplanti yamandla enyukliya, okanye ukuthutha iimpahla ngexesha lolwakhiwo lweMars, lo "mhloli{2}unemilenze emithandathu" uya kuba liqabane eliphambili ekuncedeni abantu bandise imida yabo yokuqonda.
