Imashini zigenzurwa na kure ziragenda zikora akazi mubihe byihutirwa nko gushakisha abarokotse inyubako zasenyutse.
Kumenya ibikoresho bishobora guteza akaga, ibihe byubugwate cyangwa izindi nzego zubahiriza amategeko ningamba zo kurwanya iterabwoba.Ibi bikoresho bidasanzwe byifashishwa bya kure bikoresha micromoteri zisobanutse neza aho gukoresha abakozi kugirango bakore ibikorwa bikenewe bikenewe, bishobora kugabanya cyane ingaruka kubakozi babigizemo uruhare.Gukoresha neza no gukoresha ibikoresho neza nibintu bibiri byingenzi bisabwa.
Mugihe ikoranabuhanga rikomeje gutera imbere no gutera imbere, robot zirashobora gukoreshwa mubikorwa bigoye kandi bigoye.Kubera iyo mpamvu, ubu robo zikoreshwa cyane mu bihe byihutirwa byugarije abantu - mu rwego rwo gukora inganda, kubahiriza amategeko cyangwa ingamba zo kurwanya iterabwoba, nko kumenya ibintu bikekwa cyangwa guhisha ibisasu.Kubera ibihe nkibi, ibinyabiziga bya manipulator bigomba kuba byoroshye kugirango byuzuze ibisabwa byihariye.Amaboko yabo afata agomba kwemerera uburyo bworoshye bwo kugenda mugihe yerekana neza n'imbaraga zikenewe kugirango akore imirimo itandukanye.Gukoresha ingufu nabyo bigira uruhare runini: uko disiki ikora neza, igihe kirekire cya bateri.Imikorere idasanzwe ya micromotors yahindutse igice cyingenzi cyumurima wa robot igenzura kure, zujuje neza ibyo zikeneye.
Ibi biranakoreshwa kuri robot zoroheje zishakisha.
Bikaba bifite kamera kandi rimwe na rimwe bikajugunywa ahakoreshwa, bityo rero bigomba kuba bishobora kwihanganira ihungabana, izindi zinyeganyeza hamwe n ivumbi cyangwa ubushyuhe ahantu hashobora guteza akaga.Kuri iki kibazo, ntamuntu numwe ushobora kujya kukazi gushakisha abarokotse.Ugvs (ibinyabiziga bitagira umushoferi) birashobora gukora ibyo.Kandi, tubikesha micromotor ya FAULHABER DC, ifatanije nigabanya umubumbe wongera umuriro, birizewe cyane.Ingano ntoya ya UGVs ituma ishakisha ridafite ingaruka ku nyubako zasenyutse kandi ikohereza amashusho nyayo, bigatuma iba igikoresho cyingenzi cyo gufata ibyemezo kubatabazi byihutirwa mugihe cyo gusubiza amayeri.
Dc moteri yimodoka nibikoresho bikozwe mubikoresho bigendanwa bikwiranye nibikorwa bitandukanye byo gutwara.Izi robo zirakomeye, zizewe kandi zihenze.
Muri iki gihe, robot zigendanwa zikoreshwa cyane mubihe bikomeye aho usanga hari ingaruka zikomeye kubantu no mubice byimikorere yinganda.
Abashinzwe kubahiriza amategeko cyangwa ingamba zo kurwanya iterabwoba, nko kumenya ibintu bikekwa cyangwa kwambura intwaro.Muri ibi bihe bikabije, aba "bakora ibinyabiziga" basabwa guhaza ibikenewe byihariye.Gukoresha neza no gukoresha ibikoresho neza nibisabwa bibiri byibanze.Birumvikana ko igikoresho nacyo kigomba kuba gito gishoboka kugirango gihuze inzira nyabagendwa.Mubisanzwe, moteri ikoreshwa na robo nkiyi iratangaje.Imikorere idasanzwe ya micromotors yabaye ikintu cyingenzi.
Tumaze kubivuga, guterura 30kg kumpera yukuboko bimaze kuba ingorabahizi.
Mugihe kimwe, imirimo yihariye isaba ibisobanuro aho kuba imbaraga zubugome.Mubyongeyeho, umwanya wo guterana amaboko ni muto cyane.Kubwibyo, ibyoroheje, byoroheje bikora ni ngombwa kubifata.Kugira ngo wuzuze ibyo bisabwa bitoroshye, menya neza ko gripper igomba kuba ishobora kuzenguruka dogere 360 mugihe yujuje ibyangombwa nubushobozi bukenewe bwo gukora imirimo itandukanye.
Gukoresha ingufu nabyo bigira uruhare runini mugihe ukoresheje ibikoresho bikoresha bateri.Iyo hejuru yohereza neza, igihe kinini cya serivisi."Ikibazo cyo gutwara" gikemurwa hifashishijwe micromotor ya DC ifite ibikoresho byumubumbe na feri.Moteri ya seriveri 3557 irashobora gukora kugeza kuri 26w kuri voltage yagenwe ya 6-48v, kandi hamwe nibikoresho bya 38/2 byateganijwe mbere, birashobora kongera imbaraga zo gutwara kugeza kuri 10Nm.Ibikoresho byose byuma ntibikomeye gusa ahubwo binumva imitwaro yigihe gito.Ikigereranyo cyo kwihuta gishobora gutoranywa kuva 3.7: 1 kugeza 1526: 1.Ibikoresho bya moteri byoroheje bigomba gutondekwa neza mukarere ka ruguru.Feri ihuriweho hamwe itanga umwanya wanyuma mugihe amashanyarazi yananiwe.Mubyongeyeho, ibice byoroheje biroroshye kubungabunga, kandi ibice byacitse birashobora gusimburwa vuba.Iyindi nyungu yingenzi: Moteri DC yasunitswe na moteri isaba gusa ibintu byoroheje bigabanya-kugenzura.Ibitekerezo byimbaraga zubu bikoreshwa muburyo bwa kure bwo kugenzura ukoresheje igitutu, bigaha uwukoresha imbaraga zo gukoresha gripper cyangwa "ukuboko".Iteraniro ryoroheje rigizwe na moteri ya DC neza kandi igahindura ibikoresho.Birakwiye kubikorwa bitandukanye byo gutwara.Birakomeye, byizewe kandi bihendutse.Imikorere yoroshye ya moteri isanzwe ihura nibisabwa bihendutse, byihuse kandi byizewe.