1. Uhlobo lokudlulisela ngqo
Ingalo ye-manipulator enalolu hlobo lokunyakaza inomsebenzi wokuhamba emgqeni oqondile eceleni kwezixhumanisi ezintathu eziyisikwele, okungukuthi, ingalo yenza ukunyakaza okunwebekayo njengokuphakamisa nokushintsha, futhi isithombe sesikali sayo sokunyakaza singaba umugqa oqondile, indiza eyisikwele noma i-cuboid. Ukuhlelwa kwalolu hlobo lwe-manipulator kulula, ukunyakaza kuyashesha, futhi kulula ukuqedela izidingo ezithile zokunemba, kodwa ukuqondiswa kwesikhala somsebenzi wayo kukhulu futhi isikali somsebenzi esihambisanayo sincane.
2, uhlobo lokugoba
Kulolu hlobo lwe-manipulator, ingalo inezingxenye ezimbili: ingalo engenhla kanye nengalo engezansi. Ngaphezu kwengalo engenhla enokujikeleza okuvundlile kanye nokunyakaza kokuphonsa, ingalo engezansi inokunyakaza kokuphonsa uma kuqhathaniswa nengalo engenhla. Ngokombono wesimo, ingalo engaphambili ihlobene nengalo enkulu yokunyakaza kokugoba kanye nokwelula, ngokusho kwalesi sici esibizwa ngokuthi uhlobo lokugoba kanye nokwelula, iphethini yayo yesikali sokunyakaza iyindilinga.
3. Uhlobo lwephimbo
Lolu hlobo lwengalo yokulawula ukunyakaza ngaphezu kokuguqulwa okuvundlile kwezinga lomsebenzi, kodwa futhi lune-pitch yengalo yezinga lomsebenzi, amazinga amabili omsebenzi kanye ne-degree elastic yengalo yomsebenzi kwakha i-pitch manipulator enhle, isibalo sayo sesilinganiso sokunyakaza kwebhola elingenalutho lokunyakaza okuphawulekayo kokuphonsa, ukuze kube lula okubizwa ngokuthi uhlobo lokuphonsa. I-manipulator ene-pitch yengalo kuphela futhi engenayo i-arm reverse motion ivame ukubizwa ngokuthi uhlobo lwe-pitch ngoba ukwakheka kwayo kuseduze nohlobo lwe-pitch.
Isikhathi sokuthunyelwe: Agasti-14-2023