LRPT-06D100K-A Payload Kumusoro Kusvika 100Kg yakakwira hexapod

LRT yakakwira mutoro hexapod mhinduro inokurumidza, chaiyo chaiyo, uye inotsigirwa nechikwata chakasimba uye chine ruzivo rwehunyanzvi. Tinopa vatengi mhinduro-imwe chete yekumisa! Kugovera kwakaringana, kukurumidza kutumira, kuendesa nenguva, kupa zvigadzirwa zvemhando yepamusoro uye masevhisi, Zvigadzirwa zvedu zviri kuburikidza nekuyedzwa kwakasimba, hunhu hwakavimbika, kugamuchirwa kubvunza.

Iyo turntable control system inotora yakazara dhijitari servo control system. Mudziyo wekuyera maitiro anoyera-nguva chaiyo yemamiriro epuratifomu yepamusoro. Kuburikidza nekuverenga kwekufamba, iyo yekuraira kumira kwepuratifomu yepamusoro inotemwa. Iyo komputa yekutarisa inotumira iyo yekuraira kumira kune iyo microcontroller kuburikidza neEthernet. Pakugamuchira iyo yekufamba paramende mirairo, iyo microcontroller inoita spatial inofamba modhi shanduko. Ichishandisa inverse kinematics computation, inoverengera drive motor rotation angle, iyo inotumirwa kumutyairi kuburikidza nebhazi. PC yemutyairi yemukati inobata ruzivo uye inotyaira mota yemagetsi, ichibvumira chikuva kuti chisvike pane yakatarwa posture. Iyo encoder yakaiswa pamagetsi mota inoona torque, kumhanya, uye nzvimbo ruzivo nenguva chaiyo, ichitumira kumutyairi. Yakavharwa{10}loop control system inoita kuti{11}}nguva chaiyo idzore yekona yemotor. Ruzivo urwu rwunoendeswawo kune microcontroller, iyo inoshandisa inverse computation kuona mamiriro azvino epuratifomu yepamusoro sereferensi yekuverenga.

 

 

Yakakura kutakura kugona Yakachengeteka uye Yakavimbika Yakasimba uye Yakasimba

 

DOF	Range	Velocity	Acceleration
Pitch	± 13 dhigirii	± 30 madhigirii / s	± 150 dhigirii / s2
Roll	± 13 dhigirii	± 30 madhigirii / s	± 150 dhigirii / s2
Yaw	± 15 dhigirii	± 30 madhigirii / s	± 150 dhigirii / s2
Sway	±0.10m	0.5m/s	5m/s2
Surge	±0.10m	0.5m/s	5m/s2
Heave	±0.08m	0.5m/s	5m/s2

 

Chikamu:mm

Kurema145kg

Ruvara:Nhema

Material: Aluminium alloy + Steel

Payload:100kg

Saizi1026mm*1185mm*750mm

Saizi yePayload: isingasviki kana yakaenzana1000mm*1000mm*400mm

Kuisa nzira: Threaded hole

Mounting Hole Distance: Customize

 

 

Simba rinodiwa	Rated Voltage: 220V AC(Range:-10% -10%)
	Yakatemerwa frequency: 50hz(Range: -5% -5%)
	Rated simba: 1.8kw
	Peak simba: 2.4Kw
Environment Zvinodiwa	Nzvimbo yekuchengetera: Tembiricha: -30-65 dhigirii Humidity: 5% -95% Atmospheric pressure:85-108Kpa Chikamu Chekudzivirira: IP54
	Nzvimbo yebasa: Tembiricha: -20-50 dhigirii Humidity: 5% -95% Atmospheric pressure:85-108Kpa Chikamu Chekudzivirira: IP54

 

 

Mechanical Structural Safety Design:
Ese makiyi ekuremerwa-zvinotakura zvinhu akagadzirwa zvinoenderana nemaitiro echiuto enyika, aine mechanical design security factor isingasviki 3.0 uye muganho wekutyaira usingasviki 3.0.

Electrical Design Safety Features:
Kuve nechokwadi chekushanda kwakachengeteka uye kwakavimbika kwehurongwa uye kudzivirira kukuvadzwa kwechimiro chepuratifomu kana system ikatadza, matatu{0}}chikamu chekudzivirira chinoitwa: kuchengetedza software, kuchengetedzwa kwedunhu, uye kuchengetedzwa kwehardware.

Kudzivirirwa kweSoftware:

Seyekutanga nhanho yedziviriro, kuchengetedzwa kwesoftware ndiyo yakanyanya kuchengetedzwa uye inoshanda panguva yekutonga system software runtime. Muchiedzwa chepuratifomu chepuratifomu dhizaini yesoftware, zvikumbaridzo zvinoisirwa kurebesa daro rekufamba, kumhanya kwekufambisa, uye kumhanyisa mota kudzivirira kudhudhudhudza kunokonzerwa ne-kufamba kana kumhanya zvakanyanya panguva yekushanda kwemota.

Circuit Protection:

Sechikamu chechipiri chedziviriro, kudzivirira kwedunhu kunoshanda panguva yesimba resisitimu-panguva yekumhanya. Iyo system mota drive controller inoisa zvikumbaridzo zveiyo mota inobuda kodhi kukosha, kumhanya kwakanyanya, kukwidziridza, uye yakanyanya kuburitsa ikozvino kudzivirira overshooting kunokonzerwa nemota pamusoro pekumhanya. Pamusoro pezvo, ma switch switch anoiswa panzvimbo dzakakomba zvakanyanya. Iyo yedunhu logic yeiyi miganho switch yakabatana nedhiraivha. Kana masisitimu ari kufamba asvika panzvimbo yakanyanyisa, kudzosera kumashure kwedhiraivha kunovharwa kudzivirira kupfuura-kufamba panguva yekusevha.

Hardware Dziviriro:

Seyechitatu uye yepamusoro nhanho yedziviriro, kuchengetedzwa kwehardware kunoshanda mukati mehupenyu hwese hwesystem mushure mekuiswa uye kugamuchirwa. Inovimbisa kuti pasi pese mamiriro ezvinhu, chimiro chepuratifomu chekuyedza chinoramba chakamira, mushandisi wekuyedza michina haina kukuvadzwa, uye chimiro chepuratifomu chinoramba chakachengeteka pasi pemamiriro ese ekushanda nekuchengetedza.

Kuwedzera Kuchengetedza Modules:

Iyo sisitimu inoshongedzerwa neyakakwana kuchengetedza kuchengetedza mabasa, sezvakanyorwa pazasi:

Console Emergency Stop Bhatani:
Munguva yekushanda, kana mamiriro asina kujairika akaonekwa, anoshanda mukamuri yekudzora anogona kudzvanya bhatani rekumisa yekukurumidzira kuti amise zvishandiso nekukurumidza uye kuchengetedza chinzvimbo chiripo.

Console Stop Bhatani:
Panguva yekushanda, kana mamiriro asina kujairika akaonekwa, mushandisi anogona kudzvanya bhatani rekumisa kuti amise mudziyo nekukasika uye kuchengetedza chinzvimbo chiripo.
Automatic Power Failve and Short-Circuit Protection for the Experimental Platform:
Kana 220V kutadza simba kana pfupi dunhu, mwenje wechiratidzo unodzima, mota brake inobatika, uye mudziyo unochengetedza chinzvimbo chayo.

Automatic Motor Overload Dziviriro:
Iyo system's servo mota inogona kubata 3 times overload. Kana dhiraivha ikaona mota yakawandisa, inokonzeresa chiratidzo chealarm, inobata mabhureki emota, uye mudziyo unochengeta nzvimbo yayo iripo.

Automatic Motor Over{0}}Temperature Protection:
Kana dhiraivha ikaona tembiricha yakakwira mota, inokonzeresa chiratidzo chealarm, inobata mabhureki emota, uye chishandiso chinochengeta chinzvimbo chayo.

Automatic Motor Encoder Fault Protection:
Kana iri mota pamusoro pekumhanya, stall, kana kuwandisa kukanganisa, dhiraivha inoona kukanganisa kwe encoder, inokonzeresa chiratidzo chealarm, inobata mota brake, uye mudziyo unochengeta chinzvimbo chayo chazvino.

Automatic Drive Current Overload Dziviriro:
Kana iyo dhiraivha ikozvino yakawandisa, inokonzeresa chiratidzo chealarm, inobata mota brake, uye mudziyo unochengeta chinzvimbo chayo chazvino.

Automatic Drive Overvoltage Protection:
Kana dhiraivha ikasangana nekuwandisa, inokonzeresa chiratidzo chealarm, inobata mabhureki emota, uye mudziyo unochengeta nzvimbo yayo iripo.

Automatic Drive Over-Temperature Protection:
Kana tembiricha yedhiraivha yakakwira zvakanyanya, inokonzeresa chiratidzo chealarm, inobata mota brake, uye mudziyo unochengeta chinzvimbo chayo chazvino.

Automatic Limit Switch Detection Dziviriro:
Kana zvikamu zvinofamba zvepuratifomu yekuedza zvinosvika panzvimbo yakanyanyisa, dhiraivha uye kudzora komputa panguva imwe chete inovharira kumberi kwekuisa masaini masaini, ichibvumira chete kufamba kubva panzvimbo yakanyanyisa.

Automatic Motor Speed ​​​​Limit Dziviriro:
Panguva yekushanda, kana iyo control system ikaona kumhanya kunopfuura muganhu, mota brake inobatika, uye mudziyo unochengeta chinzvimbo chayo chazvino.

Automatic Motor Acceleration Limit Dziviriro:
Munguva yekushanda, kana iyo yekudzora system ikaona kukurumidza kudarika muganhu, mota brake inobatika, uye mudziyo unochengeta chinzvimbo chayo chazvino.

Otomatiki CAN Bhazi Kukurukurirana Kukanganisa Dziviriro:
Panguva yekushanda, kana iyo yekudzora system yakaona kukanganisa kwekutaurirana kweCAN bhazi, mota brake inobatika, uye midziyo inochengetedza nzvimbo yayo iripo.

Otomatiki Network Kukurukurirana Kukanganisa Dziviriro:
Munguva yekushanda, kana iyo yekudzora system ikaona kukanganisa kwetiweki yekutaurirana, mota brake inobatika, uye mudziyo unochengeta chinzvimbo chayo chazvino.

Automatic Main Control Computer Fault Protection:
Panguva yekushanda, kana komputa inotarisisa ikasaona mhinduro kubva kune main control komputa, mota brake inobatika, uye mudziyo unochengeta chinzvimbo chayo.

 

Hexapod inyanzvi inokwanisa kuenzanisa kufamba kwese kwechinhu munzvimbo-yamativi matatu. Zita rayo rinoratidza zvakananga basa rayo: kupa matanhatu akazvimirira madhigirii erusununguko rwekufamba.

Aya madhigirii matanhatu anosanganisira matatu ekushandura madhigirii erusununguko uye matatu anotenderera madhigirii erusununguko:

 

 

• Matatu Madhigirii eRusununguko:

 

1.Heave: Kufamba kwakamira uchitevedza Z-axis (kumusoro nekudzika).
2.Sway: Lateral movement uchitevedza Y-axis (kuruboshwe nekurudyi).
3.Surge: Longitudinal kufamba uchitevedza X-axis (kumberi nekumashure).

 

 

• Matanho matatu ekutenderera erusununguko:

 

4. Yaw: Kutenderera kutenderera Z-axis (kuruboshwe nekurudyi).
5. Pitch: Kutenderera kutenderedza Y-axis (kugutsurira mberi neshure).
6. Kukungurutsa: Kutenderedza X-akisi (inorerekera kudivi).

 

Iyo inonyanya kuzivikanwa mhando ye6-DOF papuratifomu inoshandisa iyo Stewart Platform kumisikidza, mhando yemarobhoti akafanana. Zvikamu zvayo zvikuru zvinosanganisira:

 

Working Principle:
Iyo yekudzora sisitimu inoverengera hurefu chaihwo imwe neimwe yemasilinda matanhatu emagetsi inoda kuwedzera kana kudzoreredza zvichibva pane yaunoda kufamba nzira. Kurebesa nekupfupisa kwakabatana kweaya masilinda matanhatu anosundidzira nekukweva chikuva chepamusoro pamwe chete, achigadzira mafambiro akaomarara anodiwa pamadhigirii ese matanhatu erusununguko. Somuenzaniso, kutevedzera kusimuka kwendege, gadziriro yokudzora yaizorayira masilinda epamberi kuti awedzere uye masilinda ekumashure adzoke.

 

 

 

 

Nekuda kwekugona kwadzo kufamba, 6-DOF mapuratifomu akakosha mundima dzakawanda dzepamusoro-soro:

 

 

• Flight Simulators: Yechinyakare application, ichipa vatyairi vane chokwadi kinesthetic mhinduro yekusimuka, kumhara, mhirizhonga, uye aerobatics.

 

• Kutyaira Simulators: Inoshandiswa kuenzanisa mashandiro emotokari, matangi, uye ngarava, yekuongorora kuita kwemotokari, kudzidziswa kwemutyairi, uye chaiyo prototyping.

 

• Motion Theatres / Varaidzo Inotasva: Ipa inonyudza yevaraidzo zviitiko, kufambisa vateereri mukuwirirana nekuita kwefirimu.

 

Tsvagiridzo & Kuedza:

 

• Vibration Simulation: Kutevedzera mhedzisiro yekudengenyeka kwenyika, kushata kwemugwagwa, nezvimwe, pane zvivakwa kana zvishandiso.

 

• Mamiriro ekuona: Inoshandiswa pakuita{{0}kuyedza maitiro ekuyedza masetellite, spacecraft, antenna, nezvimwewo.

 

• Precision Machining & Docking: Inoshandiswa mukugadzirwa kwepamusoro uye magadzirirwo ekugadzira anoda yakakwirira-kurongeka kwekugadzirisa.

 

 

Sezvamakadzidza kare, masilinda emagetsi ndiwo maayindari emagetsi anoumba-kushanda kwepuratifomu 6-DOF. Kuita kwepuratifomu (semuenzaniso, kurongeka, kumhanya, simba) zvakananga zvinoenderana nekushanda kwemasilinda emagetsi anoshandiswa. Uyezve, iwo akakosha ekuchengetedza kuchengetedza mabasa (akadai seyekumisikidza switch, overload kuchengetedza, kumira kwechimbichimbi) yeakadaro yakaoma sisitimu inopindirana nekuchengetedza dhizaini uye magetsi ekudzivirira pfungwa dzawakabvunza nezvazvo pakutanga.

 

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