Platform moom sa bopp bu bari - degre - (MDF) aparey mekatronik la bu mëna yëngu ci barab bu jafee xam. Dañu koy jëfandikoo bu bari ci simulation, test usine, rehabilitasioŋ medsin, ak jaar-jaari bégal xol. Valeur core bi mingi ci simuler jeffin dynamique ci environmaa yi dëgg jaaraleko ci doxalinu yëngu yu bari, di jox jëfandikukat yi ay anam yu gëna jubal wala yu gëna jub. Muy wax ci njàngalem jëmmal, xarala yu am solo yi, pexe yiñ gëna xam, ak senaario yi ñuy jëfandikoo platform MDF yi.
I. Njàngale yu am solo ak xaaj platform MDF
Platform MDF yi deñuy mëna yëngu ci bayaal bu am ñatti dimension jaaraleko ci boole ay axe yu bari yuñ mëna doxal seen bopp (lu melni tekki ak wëréelu). Buñu sukkandikoo ci limu degre yi ci moom sa bopp, mën nañu leen xaaj ñatti-degree{3}}ci-moom sa bopp (3-DOF) ak jiroom benn -degree-ci -moom sa bopp (6-DOF). Platform yu am 6 DOF ñooy xeetu platform yiñ gëna xam, yu mëna yoree ci benn yoon ñatti toxal ligneer (X/Y/Z) ak ñatti wàll yu ñuy wëréelu (roll, pitch, ak yaw).
Buñu sukkandikoo ci anamu dawal gi, platform yu bari-degree -ci-moom sa bopp dañu leen xaaj ñaari kategori:
1. Transmisioŋ mekanik: Ñoom dañuy sukkandikoo ci silindre hydraulique, aktuatëri kuuraŋ, wala servomotëri ngir dawal mekaniismu lëkkaloo bi. Am nañu kàttanu yobbu ay sargal yu dëgër, te mën nañu nekk ci barab bu dëgër, moo tax ñu mëna jëfandikoo ci aparey yu diis (lu melni simulatëru naaw).
2. Mekanism paralel (lu melni platform Stewart): ñoom ñooy jëfandikoo tànki car yu bari ngir méngale barabu platform bi. Dañuy joxe tontu bu jaar yoon, te dañu leen di faral di jëfandikoo ngir positionnement bu jaar yoon ak fine-tuning.
II. Pexem xarala yu am solo ngir platform moom sa bopp yu bari
1. Algorithm yiy saytu yëngu
Jafe-jafe bi gëna mag ci platform yu bari -degree - ci-moom sa bopp mingi ci yoriinu axis yu bari yuñ boole. Pexe yiñ gëna xam ñooy:
Kontrôle PID: Lii dafay jëfandikoo kontrôle bu méngoo -integral-dérivatif ngir yamale génnug actuator bu nekk, di ekilibre gaawaayu tontu ak dayo. Dafa baax ci liggéey yu yomb ci positionnement.
Kinematik bu dëddu: Loolu dafay indi ci anam wu dëddu angle yi wala déplacement yi lalu ci position biñ bëgga am. Loolu mingi sàkku boole xayma ci nimero wala pexe jàngat (lu melni pexe parametru Denavit-Hartenberg) ngir saafara lëkkaloo bu amul rëdd.
Kontrôle buy méngoo ak kontrôle buy wax luy waaja am: Defar parametru kontre bi ci anam wu dinaamik ngir tontu coppite yi ci sargal wala jafe-jafe yi ci biti ngir gëna dëgëral sistem bi.
2. Fusion kaptër ak feedback
Gis-gis bu jaar yoon ci yëngu mingi aju ci boole done yu bari -, lu ci melni:
• Encodeurs: Saytu -ci jamono dëgg ci angle motëru wala deplasement ligneer;
• Unité de mesure inertielle (IMUs): Dañuy joxe done ci gaawaay ak gaawaay ngir jàppale ci xayma jikko;
• Telémètre/système de vision laser: Dañu koy jëfandikoo ngir etalonnage externe bu jaar yoon.
Dugalug leeral yu bari - ci segg Kalman wala algorithm reso neuronal mën na wàññi bu baax dajalu njuumte.
3. Design structurel ak gëna xéewale mekanik
Dëgër ak séddaleb diggu gravite bi ci structure mekanik bu platform bi dañu am njeexital ci performance mouvement bi. Li nga wara bàyyi xel ci jëmmal mooy:
• Yemale poids bu woyof ak dëgër: Jëfandikoo fibre carbone composite wala kadre alloy aluminium;
• Xeetu dawal bu jaar yoon: Ci misaal, séddale symétrique bu car yi ci platform Stewart mën na wàññi désequilibre couple bi;
• Design buy wàññi yëngu-yëngu ak yëngu-yëngu: Dafay tere yëngu-yëngu yu bari -y tere doxal bu baax.
III. Xeetu jëfandikoo yiñ gëna xam ak pexe yu am solo
1. Naaw/Tàggat Simulation Dawal
Jiroom benn -degree - ci -platform moom sa bopp yi dañuy jox pilote yi wala dawalkat yi barab bu ñuy tàggatee ci anam wu dëggu, ci ñuy simuler ay effet dynamique yu melni gaawaay ak tilt. Xeetu jëfandikoo gi bokku na ci:
• Defar ay yoon yuy dem te lalu ci motëri physique (lu melni MATLAB/Simulink);
• Boole ak sistem servo hydraulique ngir am déplasement bu rëy ak couple bu bari;
• Yokkatal realisme interaktiif jaaraleko ci jumtukaayi feedback yu am doole.
2. Test produit usine
Ci test aksidaa oto wala test sismik ci produit elektronik, platform yu bari -degree - yu -moom sa bopp mën nañu niroole anam yu metti yu ñuy doxalee. Ci misaal:
• Jëfandikoo algorithm yuy saytu yëngu-yëngu yi ci anam wu bari ngir génne ay spectre yuy yëngu yu méngoo ak sàrt yiñ tëral (lu melni ISO 16750);
• Saytu ndax produit bi mën na yàgg, jëfandikoo ay kaptër yu am déplasement bu baax.
3. Robo Médical ak Rehabilitasioŋ
Platform yi ñuy tàggatee ci rehabilitasioŋ dañuy jàppale malaad yi ñu mëna tàmbaliwaat seeni tànk ak seeni tànk jaaraleko ci yëngu-yëngu yu am doole ak yu amul doole. Xarala yu am solo yi ñooy:
• Defar yaatuwaayu yëngu gi lalu ci siñaal electromiografi (EMG) yu malaad bi;
• Jëfandikoo pexe yu méngoo ak sàrt yi ngir moytu ñaareelu gaañ-gaañu.
IV. Yoonu yokkute ci ëlëg
Ak yokkute yi am ci xarañteg xelu masin ak xaralay macceer yu bees, platform yu bari yu am moom sa bopp ñu ngi jëm ci xarañteg xel ak gëna ndaw. Ci misaal:
Dugalug xaralay seex numérik ngir mëna doxal ci benn yoon -seytu dëgg;
Defar actionneur yu woyof yu sukkandiko ci aleage yu am mémoire de forme;
Yaatal ci wàll yu bees yu melni manipulatëri espace ak robot yu nekk ci biir ndox.
Tëjteel
Njàngale yu bees yi am ci platform yu bari yu am degre moom sa bopp ñu ngi wéy di puus ay yamaleg jaxasoo nit ak masin ak xaralay otomatisation. Ci boole bu xóot bi am ci theorie de contrôle, design mechanique, ak jëfandikoo interdisipliner, seen potentiel dina feeñ ci senaario yu bari te wuute.
