Zapangidwa kuti zizigwira ntchito pansi pa pulogalamu yowongolera zoyenda, zida zomaliza zowongolera kapena mkono.
Chiwerengero cha olamulira chimayimira mkono wamakina & zina
Madigiri a ufulu & monse;
.
Kuphatikiza apo, pali mkono wothandizira.
Monga olamulira a lamba wotumizira, koma nthawi zambiri sizimalumikizidwa ndi mkono waukulu wowongolera.
Kwa mitundu yosiyanasiyana ya manipulator, nthawi zambiri amagawidwa molingana ndi ma axis of coordinate system.
Makina ambiri ndi amodzi mwa mitundu isanu yotsatirayi: Descartes kapena rectangular coordinate system, cylindrical coordinate system, rotary, kapena singano.
ma tag, ozungulira kapena polar ndi chosankha chofewa
gulugufe, dzanja limodzi (
SCARA)
ntchito ya zipangizo zakunja zokha
dongosolo lathunthu lopanga makina limapangidwa ndi magawo ambiri, mwa iwo, chida chogwiritsira ntchito mkono wam'mbali, chida chonyamulira zinthu ndi chizindikiritso/chitsimikizo ndicho gawo lalikulu la
kutumiza ndi kutsinde, etc. , koma kawirikawiri si mu njira makina olumikizidwa ndi main manipulator mkono.
Pakuti manipulator osiyana monga malinga ndi mawonekedwe ake & zina;
x"
,“
y'
”
,“
z"
Coordinate system yopangidwa ndi zigawo zitatu zazikuluzikulu.
Makina ambiri ndi amodzi mwa mitundu isanu yotsatirayi: Descartes kapena rectangular coordinate system, cylindrical coordinate system, rotary or hinged, spherical or polar coordinates and soft picker portfolio manipulator (
SCARA
2, ntchito ya zipangizo zakunja basi
dongosolo lathunthu lazinthu zodzichitira zokha limapangidwa ndi zinthu zambiri, kuphatikiza zida zogwiritsira ntchito mkono, zida, zida zoyendera ndipo ndiye gawo lalikulu lachizindikiritso.
1 chida chogwiritsira ntchito kumapeto kwa mkono
manipulator ndi chipangizo chomwe chimagwiritsa ntchito kulumikizana kwake kuchokera pamalo amodzi kupita kumalo ena a chida.
Zida zogwiritsira ntchito mbali ya Arm ndi wogwiritsa ntchito, zimagwiritsidwa ntchito kuti zigwire kayendetsedwe kazinthu ndikumva magawo a ntchito ya gawo.
M'mapaketi a ntchito, mapeto manipulator nthawi zambiri amapangidwa kuti agwiritse ntchito vacuum seti, kapena kuphatikiza mitundu iwiri ya clamping claw.
Chiwembu chawo chimatha kuchoka pa vacuum yosavuta kupita ku electro vacuum
ma CD ntchito, mapeto manipulator nthawi zambiri lakonzedwa kuti mwachindunji ntchito zingalowe, kapena osakaniza awiriwa mitundu ya clamping claw.
Chiwembu chawo chimatha kuchoka pa vacuum yosavuta kupita ku electro vacuum
tsiku lodziwika
kapena makonzedwe a clamping claw mtundu kapangidwe, etc.
2.
Chotengera zinthu
chipangizo chonyamulira ndi kunyamula chili m'kati mwa kutumiza ndi kupanga, kutengera zinthu, kusungirako ndi kunyamula ndikuwongolera zokha pomwe foni yam'manja ikufuna zida zamtundu wina.
Kuphatikizira ma conveyor amagetsi, hoist, magalimoto owongolera okha ndi maloboti.
