Madhigirii{{0}akawanda-e-chikuva cherusununguko chinhu chinokacha chinokwanisa kuita zvinhu zvakaoma kufamba. Hukoshi hwayo huri mukuyedzera maitiro ane simba munzvimbo chaidzo kuburikidza neakawanda-zvimiro zvekufamba. Magadzirirwo emhando yepuratifomu iyi anobatanidza matekinoroji akawanda akadai semakanika, zvemagetsi, uye kutonga, uye anoshandiswa zvakanyanya muaerospace simulation, chaiyo chaiyo yekudyidzana, kunyatsogadzira kugadzira, uye mamwe minda.
Kubva mukuona kwemuchina,{{0}dhigirii-zvakawanda-papuratifomu yerusununguko kazhinji inenge ine base, kinematic mechanism, drive system, uye end effector. Nheyo inopa tsigiro yakagadzikana, nepo kinematic mechanism iri chikamu chayo chepakati. Mienzaniso yakajairika inosanganisira iyo Stewart parallel mechanism uye Delta parallel mechanism. Chikuva cheStewart chinobatanidza mapuratifomu epamusoro uye epasi kuburikidza matanhatu kana anopfuura anodzoreredza hydraulic kana emagetsi actuators, kuwana matanhatu madhigirii erusununguko (shanduro pamwe neX, Y, uye Z maaxes uye kutenderera kutenderedza matemo matatu). Mapuratifomu eDelta anoshandisa zvimiro zvekubatanidza zvisingaremi, zvichitarisa pane-speed planar motion uye zvishoma-angle rotation. Majoini ezvishandiso izvi anoda{10}mabhengi chaiwo kana majoini ebhora kuti aderedze mhedzisiro yekukweshana uye kuchena pakufamba chaiko.
Iyi puratifomu inofambiswa nedhiraivha system, inogona kusanganisira masilinda emagetsi, hydraulic cylinders, kana servo motors akasanganiswa nebhora screws. Madhiraivha emagetsi ndiwo anotungamira nekuda kwekukurumidza kupindura kwavo uye kuchinjika kudzora, nepo hydraulic dhiraivha inokodzera mitoro mikuru. Sitimu yekudzora inoshandisa masensa (akadai semaencoder nemagyroscopes) kupa chaiyo-mhinduro yenguva pane chinzvimbo uye maitiro, uye inosanganisa maalgorithms (akadai sePID kutonga kana kumanikidza muripo wemhinduro) kuti ive nechokwadi chekufamba uye kugadzikana.
Magadzirirwo ezvimiro zve{{0}madhigirii-e-epuratifomu yerusununguko anoda kuenzanisa pakati pehuwandu hwekutakura, huwandu hwekufamba, uye mhinduro ine simba. Semuyenzaniso, mapuratifomu emuchadenga anofanirwa kushingirira-kuremerwa matani akawanda uye kutevedzera mamhanyiro akanyanyisa, ukuwo michina yekuvaraidza yeVR ichikoshesa dhizaini isingaremi uye kupindura nekukurumidza. Mune ramangwana, nekufambira mberi mune zvesainzi (zvakadai secarbon fiber composites) uye tekinoroji yekudzora, -madhigirii{7}}e-e{8}}mapuratifomu erusununguko achasimukira akanangana nepamusoro uye nekushomeka kwesimba rekushandisa, zvichiwedzera kuwedzera kugona kwadzo kwekushandisa mundima dzichiri kusimukira dzakaita sekuvandudzwa kwezvokurapa uye dura rakangwara.
