Inkundla-ye-DoF eminingi iyidivayisi ekwazi ukunyakaza kwe-spatial okuyinkimbinkimbi. Umsebenzi wayo oyinhloko uwukulingisa noma ukuphindaphinda ukuziphatha okuguquguqukayo kwezinto ezisesikhaleni sobukhulu obuthathu-ngezimbazo ezinyakazayo ezingalawuleki eziningi. Lezi zinkundla zisetshenziswa kakhulu ekuqeqesheni ukulingisa, ukuzizwisa ukuzijabulisa, ukuhlolwa kwezimboni, ukuvuselelwa kwezokwelapha, neminye imikhakha. Isisekelo sabo esisebenzayo sincike ngokuyinhloko ekusebenzeni okudidiyelwe kwamamojula amane ayisisekelo: ukwakheka kwesakhiwo semishini, amasistimu okushayela, amasistimu okulawula, kanye nemodeli ye-kinematic.
Isakhiwo Semishini: I-Physical Carrier of Degrees of Freedom
Isakhiwo sokusebenza sengxenyekazi ye-DoF eminingi-iyisisekelo esibonakalayo sokusebenza kwayo. Ngokuvamile iqukethe izixhumanisi eziningi, amajoyinti, noma amasilinda kagesi, afinyelela umnyakazo wokuhumusha nowokuzungezisa ngezindlela ezihlukahlukene ngesakhiwo esithile sejometri. Ukulungiselelwa okujwayelekile kwe-DOF kufaka phakathi i-DOF emithathu (efana nokuphakama, ukugingqika, kanye nokuzamula), i-DOF eyisithupha (ukuhumusha ngokuhambisana nezimbazo ze-X/Y/Z kanye nokuzungezisa ama-ax amathathu), nokunye okwengeziwe. Isibonelo, inkundla ye-Stewart (indlela yakudala eyisithupha-ye-DoF parallel) ixhuma izinkundla ezingaphezulu nezingaphansi ngamasilinda kagesi adonsekayo ayisithupha, isebenzise ukunyakaza okuvumelanisayo kwezixhumanisi ukuze kufinyelelwe{5}}ukulungiswa kokunemba kwendawo kwendawo. Idizayini yesakhiwo semishini kufanele ilinganise ukuqina, umthamo womthwalo, kanye nobubanzi bokunyakaza, kuyilapho kunciphisa ukuphazamiseka kokuhlanganisa phakathi kwamazinga enkululeko ukuze kuqinisekiswe ukunyakaza okuzimele nokuzinzile.
Isistimu YeDrayivu: Ingqikithi Yokufaka Amandla
Isistimu yokushayela inikeza amandla adingekayo ekuhambeni kweplathifomu. Uhlobo lwayo nokusebenza kuthinta ngokuqondile isivinini sokuphendula senkundla, ukunemba, nomthamo wokulayisha. Izindlela zokushayela ezivamile zifaka ugesi (njenge-servo motor + ball screw noma i-linear motor), i-hydraulic (i-thrust ekhiqizwa amasilinda amanzi), kanye ne-pneumatic (esebenzisa umoya ocindezelwe). Idrayivu kagesi isiphenduke inketho evamile kumapulatifomu amaningi-eziqu{5}ze--zenkululeko yesimanje ngenxa yokulawula ukunemba kwawo, ukunakekela okulula, kanye nobungane bemvelo. Idrayivu ye-Hydraulic ifanele imithwalo emikhulu (njengama-simulators endiza), kodwa ingase ijwayele ukuvuza kwamafutha kanye nokugcinwa okuyinkimbinkimbi. I-pneumatic drive inikezela ngezindleko eziphansi kodwa ihlupheka ngenxa yokunemba okubi nokuzinza, okuyenza isetshenziswe ngokuyinhloko ekulayisheni{9}izinhlelo zokusebenza ezilayishwayo ezinezidingo zokunyakaza ezingadingi kakhulu. Ukukhethwa kwesistimu yokushayela kufanele kunqunywe ngokuya ngezidingo zomthwalo, imvamisa yokunyakaza, kanye nezidingo zokunemba zesimo esithile.
Isistimu Yokulawula: "Ubuchopho" be-Motion Logic
Isistimu yokulawula "isikhungo senzwa" ye-multi-degree{1}}ye{2}}yenkundla yenkululeko, enesibopho sokuhumusha imiyalo yokunyakaza okuqondiwe ekunyakazeni okunembile kweyunithi ngayinye yokushayela. Izingxenye zayo eziyinhloko zifaka izinzwa (njengezishumeki, ama-gyroscopes, nezinzwa zamandla), isilawuli (njenge-PLC noma ikhompuyutha yezimboni), kanye nesofthiwe ye-algorithmic. Ngokuqoqa{5}}idatha yempendulo yesikhathi sangempela njengokuma kwenkundla, isivinini, nokusheshisa, isistimu yokulawula ilungisa ngokuguqukayo amapharamitha okushayela isebenzisa-ama-algorithms okulawula iluphu avaliwe (njengokulawula kwe-PID noma isilawuli sokubikezela esithuthuke kakhulu) ukuze kuqinisekiswe ukuthi i-trajectory yokunyakaza ihambisana nokuhlosiwe okusethiwe. Ezinkundleni zokuxhumana{{8}ezinamadigri-eziyisithupha{10}}zenkululeko, ukunyakaza okuhlanganisiwe kweyunithi ngayinye yokushayela kufanele kubalwe kusetshenziswa ama-algorithms e-kinematics aphambene (njengendlela yepharamitha ye-Denavit{11}}ye-Hartenberg) ukuze kuzuzwe ukulawula okunembile kwezindawo eziyinkimbinkimbi. Ngaphezu kwalokho, amasistimu okulawula esimanje ngokuvamile ahlanganisa{13}}izixhumanisi zomshini zomuntu, ezisekela izindlela zokusebenza ezihlukahlukene ezifana nokufundisa okwenziwa ngesandla{14}}phakathi,{15}}ukusetha ngaphambilini, nokucupha isignali yangaphandle.
I-Kinematic Modeling: Isisekelo Sezibalo Sokuqaliswa Kokusebenza
Ukumodela kwe-Kinematic kunikeza isisekelo setiyetha sedizayini yokusebenza yama-multi-amadigri--ezinkundla zenkululeko. Isebenzisa amamodeli ezibalo ukuchaza ubudlelwano phakathi kwe-geometry yesikhulumi namapharamitha anyakazayo. Imodeli ye-kinematics eya phambili ibala ukuma kwendawo kwendawo yokugcina yesikhulumi ngokusekelwe kokufakwayo kwelunga ngalinye (njengobude besilinda kagesi ne-engeli yemoto). Imodeli ye-kinematics ephambene ixazulula inkinga ehlanekezelwe{6}}ethola ukunyakaza okuthile okudingekayo kuyunithi ngayinye yedrayivu ngokusekelwe ekumiseni okuqondiwe. Isibonelo, kunkundla -yeziqu{9}}eziyisithupha{10}zenkululeko ye-Stewart, isisombululo se-kinematics esiphambene kufanele sicabangele ukuhlangana phakathi kwesandiso nokuhlehla kwamasilinda ayisithupha kagesi kanye{11}}nokuhumusha kwe-eksisi emithathu yenkundla nokuzungezisa. Lokhu ngokuvamile kufinyelelwa ngokuphindaphinda izinombolo noma izindlela zokuhlaziya zejometri. Imodeli enembile ye-kinematic ayithuthukisi kuphela amapharamitha eplathifomu yesakhiwo (njengobude besixhumanisi nesakhiwo esihlanganyelwe) kodwa futhi ithuthukisa{14}}ukusebenza kwesikhathi kwangempela kwesistimu yokulawula, iyenze ingxenye ebalulekile ekuqinisekiseni ukwethembeka kwenkundla.
Ukunwetshwa Okusebenzayo: Ukusuka Kwezisekelo kuya Ezisetshenziswayo
Ngokusekelwe kumamojula ayisisekelo okusebenza ashiwo ngenhla,{0}}amadigri{1}}e-{2}}enkululeko eningi anganwetshwa ukuze kuhlangatshezwane nezidingo ezihlukahlukene. Isibonelo, emkhakheni wezokuzijabulisa (ofana nesinema enyakazayo ye-VR), inkundla ihlanganisa impendulo ebonakalayo nenyakazayo ukuze kuthuthukiswe ukucwiliswa -ngokunyakaza kwemvamisa, okuncane{5}}kwe-amplitude. Ekuhlolweni kwezimboni (okufana nokulingisa ukuphahlazeka kwezimoto), inkundla kufanele imelane nemithwalo ephezulu enomthelela futhi iphindaphinde izimo zokusebenza ezidlulele. Ekuhlumelelweni kwezempilo,{8}}isivinini esiphansi, ukunyakaza okuhambisanayo kusetshenziswa ukusiza iziguli ekuqeqesheni ukusebenza kwezitho. Lezi zimo zohlelo lokusebenza zibeka izimfuno eziphakeme ekusebenzeni okwengeziwe kwenkundla (okufana nempendulo ephoqelelayo,{10}}ukuvumelanisa{10}}okuningi kwenkundla, kanye nombono wemvelo osebenzisanayo), kodwa umongo wayo usancike ohlelweni oluyisisekelo lokusebenza lokukhanda, ukushayela, ukulawula, nokumodela.
Kafushane, isisekelo esisebenzayo senkundla-eningi-ye{2}}yenkululeko sisekuhlanganiseni kwesakhiwo semishini, isistimu yokushayela, isistimu yokulawula, kanye nemodeli ye-kinematic. Kuphela ngokwenza kahle okudidiyelwe kwalawa mamojula kungafinyelelwa{4}}ukunemba okuphezulu, ukunyakaza kwesikhala okushukumisa kakhulu, ngaleyo ndlela kusekelwe ukusetshenziswa kwawo okusabalele ocwaningweni lwesayensi, ubunjiniyela, nezinkambu zabathengi. Ngokuzayo, ngokuthuthukiswa kwezinto ezintsha (njengama-alloys angasindi), ukulawula okuhlakaniphile (okufana ne-AI adaptive algorithms), kanye nobuchwepheshe benzwa, imingcele yokusebenza yama-multi-amadigri--ezingxenyekazi zenkululeko izonwetshwa ngokuqhubekayo, inikeze izixazululo zokulingisa ezinamandla ezimweni ezinzima kakhulu.
