Multi{0}Tsarin DoF, a matsayin kayan aiki masu mahimmanci a cikin injuna na zamani da sarrafa kansa, suna taka muhimmiyar rawa a fannoni daban-daban, gami da kwaikwaiyon sararin samaniya, masana'antu, da gyaran magunguna, godiya ga sassauƙar ƙarfin motsinsu. Koyaya, nau'ikan dandamali daban-daban{2}DoF sun bambanta sosai dangane da girman motsi, hanyoyin tuƙi, da daidaiton sarrafawa. Waɗannan bambance-bambance kai tsaye suna ƙayyade aikace-aikacen su da aikin su. Wannan labarin zai shiga cikin ainihin bambance-bambance tsakanin nau'ikan dandamali da yawa{5}DoF daga mahalli da yawa.
Muhimman Bambance-bambance a Matsayin Motsi na 'Yanci
Bambanci mafi mahimmanci tsakanin dandamali da yawa{0}DoF yana cikin adadin gaturun motsi masu zaman kansu da za su iya cimma. Mafi yawanci guda uku {{2}Dandali na DoF yawanci yana ba da motsin fassara tare da gatari guda uku na X, Y, da Z. Ana amfani da wannan tsari sosai a cikin sauƙin sarrafa kayan aiki ko yanayin matsayi na asali. Lokacin da tsarin ya ƙara ƙarfin jujjuyawar kusan gatari uku (wanda aka fi sani da farar, yaw, da roll), zai zama dandamalin DoF guda shida-, a halin yanzu mafi haɗakar fasaha da nau'in amfani da ko'ina.
Yana da mahimmanci musamman cewa wasu ƙayyadaddun dandamali na musamman na iya ba da daidaitawar digiri huɗu ko biyar na 'yanci (DOF). Misali, wasu mutummutumi na masana'antu suna haɗa iyawar fassara da juyi kawai a takamaiman kwatance. Waɗannan ƙungiyoyin DOF marasa daidaituwa galibi ana inganta su don ƙayyadaddun yanayin aikace-aikacen, suna sadaukar da iyawa yayin inganta ingantaccen ayyuka na musamman. Misali, wasu dandamali na kwaikwayo na teku na iya jaddada motsin tsaye da hamma yayin da suke sauƙaƙa wasu girma.
Hanyoyi daban-daban zuwa Tsarin Tsarin Injini
Ko da sun cimma adadin DOF iri ɗaya, dandamali daban-daban na iya ɗaukar mafita na tsari daban-daban. Dabarun hanyoyin daidaitawa (irin su sanannen mutum-mutumi na Delta robot ko dandalin Stewart) suna samun sauye-sauyen matsayi a cikin mai aiwatarwa ta hanyar haɗin gwiwar motsi na sandunan tuƙi da yawa. Waɗannan dandamali galibi suna ba da taurin kai da amsawa, amma wuraren aikinsu suna da iyaka. Serial dandamali, a daya bangaren, gina kinematic sarƙoƙi ta stacking gidajen abinci a jere. Duk da yake wannan yana ba da wurin aiki mafi girma, suna fama da kurakurai masu tarin yawa da rashin isasshen ƙarfi.
Hanyoyin haɓaka, waɗanda suka bayyana a cikin 'yan shekarun nan, suna ƙoƙarin haɗa fa'idodin hanyoyin biyu, kamar yin amfani da tsarin layi ɗaya a matsayin mai aiwatar da ƙarshen a cikin hannun robot serial. Wannan tsarin haɗe-haɗe yana haɓaka daidaitaccen matsayi na ƙarshe{1} yayin da yake riƙe babban filin aiki. Zaɓuɓɓukan kayan daban-daban kuma suna haifar da bambance-bambancen tsari{3}}Firam ɗin fiber carbon masu nauyi masu nauyi sun dace da manyan aikace-aikacen sauri-, yayin da tsarin ƙarfe yana ba da ƙarfin ɗaukar nauyi.
Zaɓuɓɓuka Daban-daban a cikin Fasahar Tuba da Watsawa
Bambance-bambance a cikin tsarin tuƙi yana tasiri kai tsaye aikin dandamali. Tsarukan servo na lantarki, saboda madaidaicin halayen sarrafa su, sune zaɓin da aka fi so don ƙaƙƙarfan aikace-aikace{1}, musamman idan aka haɗa su da masu rage madaidaicin, waɗanda zasu iya cimma daidaiton matakin micron{2}. Maganganun tuƙi na hydraulic, waɗanda aka sani da babban ƙarfin ƙarfin ƙarfinsu, sun dace da yanayin nauyi{4}}, amma kuma suna gabatar da haɗarin ɗigon mai kuma suna buƙatar babban rikitaccen kulawa. Ƙunƙarar ƙwayar huhu da ke tasowa ko fasaha na tsokar tsoka na wucin gadi suna nuna yuwuwar a fagen sassauƙa na robotics.
Dangane da hanyoyin watsawa, faifan rak da pinion sun dace da motsi na layi, yayin da masu rage jituwa ko masu rage RV galibi ana amfani da su don haɗin gwiwar juyawa. Wasu ƙwararrun ƙira suna amfani da haɗin kebul ko fasahar levitation na maganadisu don cimma watsawa mara lamba, wanda, yayin da ya fi tsada, yana buƙatar ƙarancin kulawa. Musamman, ci gaba a fasahar tuƙi kai tsaye - na rage dogaro ga hanyoyin watsawa na gargajiya, suna sa tsarin dandamali ya fi sauƙi kuma abin dogaro.
Rukunin Tsarin Sarrafa Matsakaici
Matsalolin sarrafawa algorithms yana ƙaruwa da yawa tare da adadin digiri na 'yanci. Uku{1}}digiri -na{3}} dandamali na 'yanci yawanci suna biyan buƙatu tare da sauƙin kulawar PID, yayin da{4}}digiri{5}}na{6}tsararrun ƴancin suna buƙatar ingantaccen ƙirar ƙira da dabarun sarrafawa na gaba, kamar sarrafa daidaitawa ko sarrafa yanayin zamiya. Aikace-aikace masu matuƙar girman buƙatun lokaci{8} na iya amfani da FPGAs ko keɓaɓɓen guntun sarrafa motsi.
Saitunan firikwensin kuma sun bambanta sosai-Tsarin dandamali na iya dogara ga masu rikodin matsayi kawai, yayin da nagartattun tsare-tsare ke haɗa na'urori masu auna ƙarfi da ƙarfi, raka'o'in ma'aunin inertial (IMUs), har ma da ra'ayoyin gani don samar da tsarin sarrafa madauki da yawa{1}}madaidaicin madauki{2}. Har ila yau, rikitarwa na tsarin daidaitawa yana ƙaruwa tare da adadin digiri na 'yanci. Shida-digiri-na{7}} dandamali na iya buƙatar kayan aikin daidaitawa na musamman da hadaddun hanyoyin gyara kuskure.
Bambance-bambancen dacewa a cikin Yanayin aikace-aikace na Musamman
Matsayi daban-daban{0} na{1} dandamali na 'yanci suna ba da takamaiman aikace-aikace saboda bambancin halayensu. Uku -digiri-na{5}}ana amfani da dandamali na 'yanci a cikin sassauƙan layukan taro masu sarrafa kansa ko don nunin samfuri na asali, suna ba da mafi kyawun farashi{6}mafi inganci. Shida{8}}digiri-na{10}} dandamalin motsi na 'yanci sune ginshiƙan abubuwan da ke cikin na'urorin kwaikwayo na jirgin sama, ɗakunan ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun ƙwararrun matafiya.
Dabaru na musamman, kamar biyu{0}digiri-na{2}} ’Yancin tudu, an kera su ne musamman don gwajin kayan aikin ruwa, yayin da -digiri{4}} na - ƴan Adam masu kamanceceniya da mutum-mutumi sun yi fice a cikin sauri{6}. Matakan gyarawa a fagen likitanci galibi suna ɗaukar sauƙaƙan digiri uku{9}} na{10}} daidaitawar yanci, suna ba da fifiko ga aminci da kwanciyar hankali akan matsananciyar motsi. Wannan aikace-aikacen {12} bambance-bambancen ƙira yana sanya "mafi dacewa" sau da yawa fiye da "mafi ci gaba."
Fasahar Daidaita Ayyuka da Kuɗi
Ƙara yawan digiri na 'yanci ba makawa yana haifar da haɓakar farashi mara kyau. Kididdiga ta nuna cewa dandali na 'yanci-digi shida{2}} na{3} yawanci yana kashe uku zuwa sau biyar fiye da uku{4}}digiri{5}}na- dandamalin 'yanci na ƙayyadaddun bayanai iri ɗaya, ba tare da haɗaɗɗun tsarin sarrafawa da farashin kulawa ba. A cikin aikace-aikacen masana'antu, injiniyoyi sukan yi amfani da binciken kinematic don tantance mafi ƙarancin adadin ma'auni na 'yanci, gano ma'auni mafi kyau tsakanin gamsuwar aiki da farashi{8}} tasiri.
Kulawa kuma shine mahimmin la'akari{0}}arin sassa masu motsi yana nufin babban yuwuwar gazawa da ƙarin hanyoyin kulawa. Wasu ƙayyadaddun aikace-aikacen muhalli, kamar injinan hakar ma'adinai, na iya iyakance adadin digiri da gangan don inganta amincin tsarin. Wannan falsafar ƙirar ƙira tana tunatar da mu cewa zaɓin dandali mai yawa{3}}{4}} na{5} dole ne ya dogara da ainihin ƙayyadaddun buƙatun aikace-aikace.
Abubuwan Ci gaba na gaba da Haɗin Fasaha
A halin yanzu, dandali masu yawa{0}}digiri-na{2}}wasu dandamali na 'yanci suna tafiya zuwa ga hankali, nauyi, da daidaitawa. Gabatar da algorithms na hankali na wucin gadi yana ba da damar dandamali don haɓaka yanayin motsi da kansa, yayin da aikace-aikacen sabbin kayan ke ci gaba da haɓaka haɓakawa cikin ƙarfin lodi. Tsarin ƙira na zamani yana ba da damar dandamali don sassauƙa faɗaɗa digiri na 'yanci bisa buƙata. Wannan tsarin "tsari akan buƙata" na iya sake fasalin matsayin masana'antu na gaba.
Yana da alƙawarin cewa haɗin fasahar tagwayen dijital da digiri na{1} na{2}}waɗanda za su ba da damar aiwatar da aiki mai inganci da sa ido mai nisa. Tare da haɓakar ra'ayi mai ma'ana, iyakokin aikace-aikacen ultra{4}}maɗaukaki{5}} daidaici shida-digiri{7}}na- dandamali na 'yanci a fagen hulɗar kama-da-wane suna ci gaba da faɗaɗawa. Waɗannan dabi'un haɗin gwiwar fasaha suna nuna cewa manyan dandamali{10}}digiri{11} na{12}} za su nuna ƙimarsu ta musamman a fagage daban-daban.
