Yenzelwe ukusebenza phantsi kwenkqubo yokulawula intshukumo, isixhobo sokugqibela se-manipulator okanye ingalo.
Inani le-axis limele ingalo yomatshini & nezinye
Amanqanaba enkululeko & kuyo yonke;
.
Ukongeza, kukho ingalo encedisayo.
Njenge-axis yebhanti yokuhambisa, kodwa zihlala zingekho ngendlela yomatshini edityaniswe nengalo ephambili ye-manipulator.
Kwiintlobo ezahlukeneyo ze-manipulator, zihlelwa ngokubanzi ngokwe-axis yayo yenkqubo yokulungelelanisa.
Uninzi lomatshini lololunye lwezi ntlobo zintlanu zilandelayo: I-Descartes okanye i-rectangular coordinate system, i-cylindrical coordinate system, i-rotary, okanye inaliti.
ithegi, i-spherical okanye i-polar coordinates kunye nesikhethi esithambileyo
ibhabhathane, isandla esinye (
SCARA)
umsebenzi wezixhobo zangaphandle ezizenzekelayo
iskimu esipheleleyo sesakhiwo esizenzekelayo siqulunqwe ngamacandelo amaninzi, phakathi kwawo, isixhobo sokusebenza kwengalo esecaleni, isixhobo sothutho lwemathiriyeli kunye nenkqubo yokuchonga/yokuqinisekisa yeyona nxalenye iphambili
thumela nge-shaft, njl. njl., kodwa abaqhelekanga ukuba bangabikho kwindlela yomatshini edityaniswe nengalo eyintloko ye-manipulator.
Kwi-manipulator eyahlukileyo njengoko ihambelana nokumila kwayo & nezinye;
x”
,“
wena
”
,“
z”
Inkqubo yolungelelaniso yenziwe ngezinto ezintathu ezingundoqo kuhlelo.
Uninzi koomatshini bolunye lwezi ntlobo zintlanu zilandelayo: I-Descartes okanye inkqubo yolungelelwaniso oluxande, inkqubo yolungelelwaniso lwecylindrical, irotary okanye ihenjisi, i-spherical or polar coordinates kunye ne-soft picker portfolio manipulator (
SCARA
2, umsebenzi wezixhobo zangaphandle ezizenzekelayo
iskimu sesakhiwo esizisebenzelayo esipheleleyo siqulunqwe ngamacandelo amaninzi, kubandakanywa izixhobo zokusebenza kwengalo, izixhobo, isixhobo sothutho kwaye licandelo eliphambili lenkqubo yokuqinisekisa.
Isixhobo sokusebenza sengalo esi-1
i-manipulator sisixhobo esisebenzisa noqhagamshelwano lwaso ukusuka kwindawo ethile ukuya kwenye indawo yesixhobo.
Izixhobo zokusebenza zecala le-Arm kunye nomsebenzisi, zisetyenziselwa ukubamba iimveliso zentshukumo yolwalathiso kunye nokuziva iiparamitha zokusebenza zecandelo.
Kwizinto zokupakisha, isiphelo semanipulator sikholisa ukuyilwa ukusebenzisa ngokuthe ngqo iseti yevacuum, okanye indibaniselwano yezi ntlobo zimbini zozipho olubambezelayo.
Iskimu sabo sesakhiwo sinokusuka kwi-vacuum elula iseti kwi-electro vacuum
izicelo zokupakisha, isiphelo manipulator idla ngokuyilwa ukusebenzisa ngqo iseti vacuum, okanye indibanisela ezi ntlobo zimbini clamping claw.
Iskimu sabo sesakhiwo sinokusuka kwi-vacuum elula iseti kwi-electro vacuum
imini eyaziwayo
okanye ulungiselelo lwesakhiwo sohlobo lwe-clamping claw, njl.
2.
Ukuhanjiswa kwezinto
uthutho lwempahla kunye nesixhobo sokuphatha sikwinkqubo yokuhanjiswa kunye nokuveliswa, ukuthutha imveliso, ukugcinwa kunye nokuthutha kunye nokulawula ngokuzenzekelayo xa iselula idinga iintlobo ezithile zezixhobo.
Kubandakanya ukuhambisa amandla, i-hoist, izithuthi ezizenzekelayo ezikhokelwayo kunye neerobhothi.
