Platform multi-DoF ab aparey mekatronik la bu mëna yëngu ci barab bu jaffe. Li gëna am solo ci liggéeyam mooy nuru wala nuru doxalinu mbir yi ci biir bayaal bu am ñatti dimension jaaraleko ci axes yu bari yuñ mëna doxal seen bopp. Platform yooyu dañu leen di jëfandikoo bu bari ci tàggat yaram, bégal xol, test usine, rehabilitasioŋ medikaal, ak yeneen wàll. Seen fondaasioŋ fonctionel mingi aju ci liggéey bu boole ñeenti modle core: jëmmal structure mekanik, sistem dawal, sistem kontre, ak modeling kinematik.
Jariñu mekanik: porteer physique bu degre yu moom sa bopp
Jariñu mekanik bu platform multi-DoF mooy fondaasioŋ physique bi ci liggéeyam. Dafay am lëkkalekaay yu bari, boole, wala silindre kuuraŋ, ñuy def yëngu tekki ak wëréelu ci wàll yu bari jaaraleko ci jëmmal geometrik buñ tànn. Tablo DOF yiñ gëna xam ñooy ñatti DOF (lu melni pitch, roll, ak yaw), 6 DOF (tekki ci X / Y / Z axes boole ci wëréelu ci ñatti axes), ak lu ëpp loolu. Ci misaal, platform Stewart (mekanism paralel bu am 6{4}}DoF) dafay boole platform yi ci kaw ak ci suuf jaaraleko ci 6 silindre kuuraŋ yuñ mëna dindi, di jàppale tànki lëkkalekaay yi ngir mëna am position spatial bu jaar yoon. Nataalu structure mekanik bi dafa wara ekilibre dëgëraay bi, kàttan sargal bi, ak yaatuwaayu yëngu bi, boole ci wàññi jafe-jafe yi ci diggante℃yu moom sa bopp ngir mëna yëngu bu moom boppam te dëgër.
Sistemu dawal: Core biy dugal doole
Sistemu dawal bi mooy joxe doole jiñ soxla ngir platform bi mëna daw. Xeetam ak ni muy doxee dañu am njeexital ci gaawaayu tontu platform bi, dëggu gi ak kàttanu yab gi. Xeetu dawal yiñ gëna xam ñooy: kuuraŋ (lu melni motëru servo + vis à boule wala motëru ligneer), hydraulique (puissance bi silindre hydraulique yi di defar), ak pneumatique (jëfandikoo air comprimé). Dawalkat kuuraŋ moo nekk tànneef bi gëna mag ci platform yu bees yu bari - degre - ci -moom sa bopp ndax njubteem ci doxal, yombal toppatoo bi, ak baax ci environmaa bi. Transmisioŋ hydraulique bi baaxna ci sargal yu bari (lu melni simulatëru naaw), waaye mën na gaawa senn diw ak toppatoo bu jafe. Entraînement pneumatique moo gëna néew njëg waaye daa ñàkk njub ak stabilite, moo tax ñu koy gëna jëfandikoo ci aplikaasioŋ yu woyof te gëna néew luñuy laaj ci yëngu. Tanneef sistemu dawal dafa wara aju ci sargal biy laaj, fréquence mouvement bi, ak njubte gi ci senaario bi.
Sistemu kontrôle: "Yuur" Logique Mouvement
Sistem biy doxal mooy "centre nerf" bi ci platform bu bari - degre - ci-moom sa bopp, moo yor tekki ndigali yëngu yiñ bëgga def ci yëngu yu gëna jub ci bépp dawalkat. Koposaŋ bi ci gëna am solo mooy ay kaptër (lu melni enkodeer, gyroscope, ak kaptëru doole), ab njiit (lu melni PLC wala ordinatër usine), ak losisel algorithmik. Suñu dajalee ay done ci jamono dëgg, lu ci melni barabu platform bi, gaawaayam, ak gaawaayam, sistem biy saytu dafay yamale parametru dawal bi ci anam wu dinaamik, jëfandikoo algorithm yu tëju (lu melni sàmmonte PID wala sàmmonte model bu gëna xarañ) ngir mëna wax ni trajectoire mouvement bi méngoo na ak mébet biñ tëral. Ngir platform yu am 6 degre, fàww ñu xayma dem bi ak dikk bi ci bépp jumtukaay buy dawal, ci jëfandikoo algorithm kinematik yu wuute (lu melni Denavit{11}}pexem parametru Hartenberg) ngir mëna yor bu baax barab yu xawa jafe yi. Rax ci dolli, sistem yiy doxal ci jamono jii dañuy faral di boole interfaasu masin ak nit, di jàppale anam yu bari yu ñuy doxalee lu ci melni jàngale ci loxo, prograam buñ tëral bu njëkk, ak siñaal biy joge ci biti.
Modeling kinematik: Fondaasioŋ math ngir jëfandikoo
Modeling kinematik mooy joxe fundamaasu theorie ngir jëmmal platform yu bari yu am degre yu moom sa bopp. Dafay jëfandikoo ay modeli math ngir fësal diggante geometri platform bi ak parametru yëngu yi. Modèlu kinematik bi ci kanam dafay xayma pose spatial bu point final bi ci platform bi, sukkandikoo ci dugal yi ci joint bu nekk (lu melni guddaayu silindre electrik bi ak angle motër bi). Modèle kinematique inverse bi dafay saafara jafe-jafe inverse bi - di génne mouvement bi war ci bépp unité dawal bu sukkandiko ci pose biñ bëgga jëfandikoo. Ci misaal, ci benn platform Stewart bu am jiroom benn degre ci -moom sa bopp, pexe kinematik bu dëddu bi dafa wara xoolaat lëkkaloo gi am ci digganté yokkute ak dellu ginaaw jiroom benn silindre kuuraŋ yi ak tekki ak wëréelu platform bi ci ñatti axis yi. Ni ñu koy faral di defee mooy iteration numérique wala pexe geometrie analytique. Benn xeetu kinematik bu jaar yoon du yam ci gëna baaxal parametru jëmmal platform (lu melni guddaayu lëkkalekaay bi ak jëmmu lëkkaloo bi) waaye dafay gëna suqali sistem biy doxal ci diir bu gàtt, moo tax mu nekk cër bu am solo ngir mëna wóolu platform bi.
Yaatuwaayu liggéey: daale ko ci mbir yu yomb ba ci jëfandikoo
Suñu sukkandikoo ci module fonctionel yu njëkk yiñ waxoon ci kaw, mën nañu yaatal platform yu bari-degree-ci-moom sa bopp ngir mëna satisfaat bëg-bëg yu bari. Ci misaal, ci wàllu bégal xol (lu melni sinemaa yiy yëngu VR), platform bi dafay boole feedback yiy wane ak yiy yëngu ngir gëna suqali nit ñi ci yëngu yu bari, yu ndaw. Ci test yi ñuy amal ci usine yi (lu melni simulaasioŋ aksidaa oto), platform bi dafa wara mëna dékku ay sargal yu tar ba noppi méngoo ak anam yu metti yu ñuy doxalee. Ci rehabilitasioŋ medikaal, dañuy jëfandikoo tànq yu woyof, yu méngoo ngir jàppale malaad bi ci tàggat yaram ak tànk yi. Senaario aplikaasioŋ yooyu dañuy laaj yeneen mbir yu gëna am solo ci platform bi (lu melni feedback force, synchronisation platform yu bari, ak gis-gis environmaa bi), waaye core bi mingi wéy di aju ci sistem fonctionnel bu mekanik, dawal, njiit, ak modeling.
Ci gàttal, fondaasioŋ fonctionel bu platform moom sa bopp bu bari℃mingi ci boole structure mekanik, sistem dawal, sistem njiit, ak modeling kinematik. Ci optimisation coordinée ci modle yooyu kese lañu mëna def ngir mëna am mouvement spatial bu gëna jub, dinamik bu bari, loolu dina tax ñu mëna ko jëfandikoo bu baax ci wàllu gëstu science, ingenieur ak ci wàllu consommateur. Ci ëlëg, ak defar ay jumtukaayi bees (lu melni alloys yu woyof), doxalal bu am xel (lu melni algorithm yuy méngoo ak IA), ak xaralay kapte, ay pexe yu am ci platform yu bari yu moom sa bopp dina ñu gëna yaatal, di joxe ay pexe simulation yu gëna xarañ.
