Ama-robotic manipulatorsinganciphisa izinga labasebenzi, ithuthukise ikhwalithi yomkhiqizo, ithuthukise izimo zabasebenzi futhi igweme izingozi zomuntu siqu.Emazingeni okushisa aphezulu, umfutho ophakeme, izinga lokushisa eliphansi, umfutho ophansi, uthuli, umsindo, nokungcoliswa kwemisebe okunobuthi endaweni enokhahlo, ukusetshenziswa kwerobhothi kungafaka ingxenye noma ngokuphelele esikhundleni somuntu ukuze aqedele umsebenzi ngokuphepha, ukukhiqizwa okunesigqi, njll. Ngokuvamile, irobhothi linethuba elibanzi lohlelo lokusebenza.Ngakho-ke, ukunyakaza kwe-manipulator kunjani?
Uhlobo lokushintsha okuqondile: Lolu hlobo lokunyakaza kwengalo yerobhothi lunezixhumanisi ezintathu ezibheke kwesokudla kuphela zokunyakaza komugqa wezinga lomsebenzi, okungukuthi, ingalo kuphela yokuphakamisa nokunwebeka nokuhumusha nokunye ukunyakaza, igrafu yesikali sayo sokunyakaza. kungaba umugqa oqondile indiza elingunxande noma umzimba ongunxande.Lolu hlobo lokuhlelwa kwerobhothi lulula, ukunyakaza okunembile, kulula ukuqedela izidingo ezithile zokunemba, kodwa isikhala esikuso sikhulu isikali somsebenzi esihambelanayo sincane.
I-Flexion kanye nohlobo lwesandiso: Leli fomu leumanipulatoringalo inezingxenye ezimbili, ingalo enkulu nengalo encane, ngaphezu kwengalo enkulu evundlile ehlehlayo kanye nokuhamba kwephimbo, ingalo encane ehlobene nengalo enkulu kanye nokunyakaza kwephimbo.Kusukela endaweni yokubuka ye-morphological, ingalo encane ehlobene nengalo enkulu yokunyakaza nokunwebeka, ngokwalesi sici ibizwa ngokuthi i-flexion kanye nohlobo lwesandiso, ihluzo zayo zesikali sokunyakaza kwe-sphere.
Uhlobo lokuphonsa: Lolu hlobo lokunyakaza kwengalo yerobhothi esizwayo ngaphezu kokuhlehla okuvundlile kwalo msebenzi, kodwa futhi linengalo ephonsa lo msebenzi, lawa madigri amabili omsebenzi nomsebenzi wokunwebeka kwengalo kwakha irobhothi eliphelele lohlobo lokuphonsa, isikali salo sokunyakaza. ihluzo zendilinga eyindilinga engenalutho yokunyakaza kokuphonswa, ukuze kube lula ukubizwa ngokuthi uhlobo lwe-pitching, ngokuvamile kuphela ngokujikijela ingalo futhi akukho msebenzi wokubuyisela emuva izingalokusizwa manipulatoribizwa nge-pitch type.
Isikhathi sokuthumela: Nov-26-2021