A ingalo yokulawulaiyithuluzi lomshini, elingalawulwa ngokuzenzakalela noma ngokwenziwa;Irobhothi lezimboniuhlobo lwemishini yokwenza izinto ngokuzenzakalela, ingalo yokulawula uhlobo lwerobhothi lezimboni, irobhothi lezimboni nalo linezinye izinhlobo. Ngakho-ke yize izincazelo ezimbili zihlukile, kodwa okuqukethwe yireferensi kunokufana okuthile.
Ingalo ye-manipulator yezimboni ingumshini oqinile noma ohambayo okwakhiwa kwawo ngokuvamile kwakhiwa uchungechunge lwezingxenye ezixhumene noma ezishelelayo ukuze zibambe noma zihambise izinto, ezikwazi ukulawula ngokuzenzakalela, ukuhlela okuphindaphindwayo, kanye namazinga amaningi enkululeko (i-axis). Isebenza ikakhulukazi ngokunyakaza okuqondile eceleni kwe-X, Y, kanye ne-Z axes ukuze ifinyelele indawo okuqondiwe kuyo.
Irobhothi lezimboni liyithuluzi lomshini elenza umsebenzi ngokuzenzakalelayo, futhi liwumshini oqaphela imisebenzi ehlukahlukene ngamandla awo kanye nekhono lawo lokulawula. Lingaqondiswa abantu noma lisebenze ngokwezinhlelo ezihlelwe kusengaphambili, futhi amarobhothi ezimboni anamuhla angasebenza ngokwezimiso ezakhiwe ubuchwepheshe bobuhlakani bokwenziwa.
Ingalo ye-manipulator isetshenziswa kabanzi embonini, futhi ubuchwepheshe obuyinhloko obuqukethe ukushayela nokulawula, kanti ingalo ye-manipulator ngokuvamile iyisakhiwo esiwuchungechunge.
Irobhothi lihlukaniswe kakhulu ngesakhiwo sochungechunge kanye nesakhiwo esihambisanayo: irobhothi elihambisanayo lisetshenziswa kakhulu lapho kunesidingo sokuqina okuphezulu, ukunemba okuphezulu, isivinini esikhulu, kungekho zikhala ezinkulu zesikhala, lisetshenziswa ngqo ekuhlungeni, ekuphatheni, ekulingiseni ukunyakaza, amathuluzi omshini ahambisanayo, ekucubunguleni insimbi, amalunga erobhothi, isikhombimsebenzisi sezindiza, njll. Irobhothi elihambisanayo kanye nerobhothi elihambisanayo zakha ubudlelwano obuhambisanayo ekusetshenzisweni, futhi irobhothi elihambisanayo linendawo enkulu yokusebenza, engagwema umphumela wokuxhumanisa phakathi kwama-axes okushayela. Kodwa-ke, i-axis ngayinye yendlela yokusebenza idinga ukulawulwa ngokuzimela, futhi kudingeka ama-encoder nama-sensor ukuthuthukisa ukunemba kokunyakaza.
Isikhathi sokuthunyelwe: Ephreli-08-2024