Munzvimbo dzakanyanyisa kana dzakaoma kuti vanhu vakwanise kufamba, marobhoti echinyakare ane mavhiri kana anoteverwa anowanzosangana nematambudziko akakura nekuda kwekusagadzikana kwenzvimbo uye kusagadzikana. Hexapod marobhoti, ane akasarudzika ebiomimetic dhizaini uye kufamba kwakarongeka kwemakumbo avo matanhatu emuchina, anoratidza kufamba kwakasarudzika uye kugona kuita mishoni munzvimbo dzakakombama, nzvimbo dzakavharirwa, uye kunyangwe munzvimbo dzisina huremu, ichiva tekinoroji inotungamira mukushanda kwakasiyana kwenzvimbo.
Bionic Advantages eHexapod Structure: Yakagadzikana uye Flexible Balance
Dhizaini yemarobhoti ehexapod inokwevera kurudziro kubva kune arthropods inowanikwa mune zvakasikwa, semapete nemadandemutande. Mhuka idzi dzinoshandisa-kusangana kwemakumbo akawanda uye nepakati pekugadzirisa simba regiravhiti kuchengetedza kufamba kwakanaka muvhu rakasununguka, mikaha yematombo, uye kunyange madziro akatwasuka. Hexapod marobhoti nhaka ichi musimboti hunhu: kana rimwe kana maviri makumbo akavharwa chipingamupinyi, asara makumbo mana anogona kugadzirisa kufamba kwavo munguva chaiyo kuburikidza algorithms, kuumba yakatsiga triangular rutsigiro chimiro (yakafanana "tripod gait" tupukanana) kudzivirira robhoti kubva tipping pamusoro. Data rekuyedza rinoratidza kuti pamateru ematombo ane 30℃inclination kana mumapombi ane dhayamita ye15 cm chete, mwero wekupasa kwerobhoti rehexapod wakakwira ne40% pane werobhoti rine quadruped uye 70% yakakwirira kupfuura yerobhoti rine mavhiri.
Zvinotonyanya kukosha, kudzokororwa kweiyo hexapod chimiro chinopa iro robhoti yakasarudzika nharaunda kuchinjika. Semuenzaniso, mumararamiro ekutsvaga nekununura, kana gumbo rikakuvadzwa nekudhumhana, hurongwa hunogona kugovera zvakare mutoro, kuendesa 30% yehuremu hwakanga hwakatakurwa negumbo iroro kune mamwe makumbo mashanu, uye kuenderera mberi kuburikidza nekugadzirisa gait kuronga (zvakadai sekuchinjanisa imwe chete{2}}kusvetuka kwegumbo uye kukambaira yakawanda{3}). Uku "kukanganisa kushivirira" kugona parizvino kwakaomera kuti marobhoti mazhinji awane.
Inoshanda Verification muSpecial Mamiriro: Kubva kuPolar Matunhu kuenda Pakadzika Space
Kukosha kwemarobhoti ehexapod kwakaratidzwa mune dzakasiyana siyana dzakanyanyisa mamiriro. Munguva yeArctic sainzi expeditions, timu yekuCanada yekutsvagisa yakagadzira "Polar Hexapod" robhoti ine infrared thermal imager uye ice drilling module, yakabudirira kupfuura nechando tundra uye ice crevasses pa -40 degree, ichiunganidza sampuli dze subglacial dziva tupukanana nharaunda. Kushandisa drones kungadai kwakakonzera kudonha kwakanyanya kwehupenyu hwebhatiri nekuda kwekudziya kwakadzikira, nepo kuvimba nevanhu vanoshanda kwaizoisa njodzi yechando.
Muchikamu chekuongorora kuputika kwemakomo, robhoti re"Vulcan" hexapod rekuYunivhesiti yeTokyo, Japan, rine-tembiricha yealloy shell (inokwanisa kushingirira tembiricha ye300 degree) uye gasi sensor array, rakapinda mukati-kati memarimu emhepo inoputika madhakisi kuti riunganidze data resarufa. Makumbo ayo matanhatu ane majoini akanyoroveswa ne hydraulically, kuve nechokwadi chekuenzanisa pasi pekukanganiswa kwekuputika kwegomo rinoputika nemarara. Midziyo ine mavhiri inobatika zvakanyanya munzvimbo dzakadai nekuda kwemarara ari kugara mumavhiri.
Chinotonyanya kuvimbisa maapplication emuchadenga. Iyo "Lunar Hexapod" prototype parizvino iri kuedzwa neNASA ine yakagadziridzwa gait algorithm kune yakaderera giravhiti (1/6 yepasi rinokweva). Gumbo rimwe nerimwe rine anchor inodzokororwa. Panguva yedanho, robhoti rinotanga rachengetedza muviri nechibatiso risati rasimudza gumbo riri pedyo kuti rifambe, richidzivirira kutsvedza kunokonzerwa nevhu rakapfava remwedzi. Mienzaniso yakaitwa muna 2023 yakaratidza kuti robhoti rakakwira kutsetseka kwemadhigirii makumi maviri nemashanu emagirazi akagadzirwa nevhu rakaedzerwa nemwedzi zvakapetwa katatu kupfuura Apollo lunar rover, richishandisa chimwe chete{8}}chishanu chesimba rekupedzisira.
Technical Bottlenecks uye Ramangwana Kubudirira
Zvisinei netarisiro yaanoita, marobhoti ehexapod achiri kutarisana nematambudziko makuru matatu: Chekutanga, kumanikidzwa kwe-sarudzo yenguva chaiyo-mumamiriro ezvinhu akaoma kunzwisisa. Traditional control algorithms inogona kunonoka kana panguva imwe chete ichisangana nenzvimbo yakapfava, zvipingamupinyi zviri pamusoro, uye kuvhiringika kwakasimba (semhepo nemvura). Chechipiri, zvipingamupinyi zvekupa simba. Kufambisa-kuremesa zvinhu, kunyanya munzvimbo yakadzika kana pasi pevhu pasina kuchaja kwekunze, kunoisa bhatiri rakawandisa. Chechitatu, kupokana pakati pemutengo uye miniaturization. Marobhoti emazuva ano epamusoro-ekupedzisira ane hexapod anowanzoita mari inodarika miriyoni yemadhora, zvichideredza-kushandiswa kwechikero chikuru.
Academia yakaronga mhinduro dzinoverengeka dzekugadzirisa nyaya idzi. Semuyenzaniso, "adaptive gait engine" yakasanganiswa neyakadzama yekusimbisa kudzidza inoita kuti marobhoti adzidze akazvimirira ega nzira dzekufamba nekuenzanisa mamirioni ekudyidzana munzvimbo dzakasiyana. Kushandiswa kwezvinhu zvinoshanduka zvebiomimetic (zvakadai sekabhoni fiber bionic tendons) kunoderedza uremu hwegumbo uku uchivandudza kupikisa. Uye dhizaini yemagetsi emodular (yakadai semabhatiri enyukireya{{3}yakabatana) kana firimu rezuva) inowedzera hupenyu hwebhatiri.
Zvinogara zvichionekwa kuti nekufambira mberi kwesainzi yemidziyo, hungwaru hwekugadzira, uye dzidziso yekutonga, marobhoti ehexapod anozoshanduka zvishoma nezvishoma kubva ku "maturusi akakosha" kuenda ku "mapuratifomu epasirese" ekushanda munzvimbo dzakasarudzika. Kungave kuongorora hupenyu munzvimbo dzakadzika-dzinopisa mvura yegungwa, kuchenesa nzvimbo dzemwaranzi mushure metsaona yegwenya remagetsi enyukireya, kana kutakura zvinhu panguva yekuvakwa kweMars base, "muongorori-anemakumbo matanhatu" uyu achava mubatsiri mukuru mukubatsira vanhu kuwedzera miganhu yavo yekuziva.
