Madhigirii{{0}akawanda-e-papuratifomu yerusununguko (MDF) chigadziriso chine mechatronic chinokwanisa kuomarara kufamba kwenzvimbo. Inoshandiswa zvakanyanya mukuenzanisa, kuyedza maindasitiri, kugadzirisa zvekurapa, uye zviitiko zvekuvaraidza. Hukoshi hwayo huri mukuyedzera maitiro anochinja-chinja munzvimbo chaidzo kuburikidza ne-dimensional motion control, inopa vashandisi kunyudza kana kukwirisa{6}}kuyedzerwa nemazvo. Ichi chinyorwa chichakurukura misimboti yekugadzira, matekinoroji akakosha, nzira dzakajairwa, uye mamiriro ekushandisa emapuratifomu eMDF.
I. Basic Principles uye Classification yeMDF Platforms
Mapuratifomu eMDF anonyatso kwanisa kufamba munzvimbo nhatu-mumativi matatu kuburikidza nemusanganiswa wemademo anodzoreka akazvimirira ega ekufamba (sekushandurira nekutenderera). Zvichienderana nehuwandu hwemadhigirii erusununguko, anogona kukamurwa kuita matatu{{2}madhigirii{3}}e-erusununguko (3-DOF) uye matanhatu-madhigirii{8}e-erusununguko (6-DOF) marudzi. Nhanhatu-DOF mapuratifomu ndiwo anonyanya kuzivikanwa mhando, inokwanisa panguva imwe chete kudzora matatu mutsara kubviswa (X/Y/Z) nemakona matatu ekutenderera (roll, pitch, uye yaw).
Zvichienderana nemaitiro ekutyaira, akawanda-madhigirii{1}}e-mapuratifomu erusununguko akapatsanurwa muzvikamu zviviri:
1. Mechanical transmission: Aya anovimba nema hydraulic cylinders, electric actuators, kana servo motors kutyaira iyo linkage mechanism. Dzinopa mutoro wakasimba-kukwanisa kutakura uye kugadzikana kwechimiro, zvichiita kuti dzikodzere midziyo inorema (yakadai semasimudzira endege).
2. Parallel mechanism (yakadai seStewart platform): Izvi zvinoshandisa synchronous motion yemapazi akawanda kugadzirisa nzvimbo yepuratifomu. Dzinopa huchokwadi hwepamusoro uye nekukasika kupindura, uye dzinowanzo shandiswa pakumisikidza nemazvo nekugadzirisa-zvakanaka.
II. Nzira Dzakakosha dzeTekinoroji dzeMadhigirii-e-Mapuratifomu eRusununguko
1. Motion Control Algorithms
Dambudziko guru re-madhigirii-e-mapuratifomu erusununguko riri mumatunhu akawanda-akabatana akabatana. Nzira dzakajairika dzinosanganisira:
PID control: Izvi zvinoshandisa proportional-integral-derivative control kugadzirisa kubuda kweactuator yega yega, kuenzanisa kumhanya kwekupindura uye kugadzikana. Inokodzera mabasa ekutanga ekumisa.
Inverse kinematics: Izvi zvinokanganisa majoini makona kana kusimuka zvichibva pane inotarirwa chinzvimbo. Izvi zvinoda musanganiswa wenhamba dzekuverenga kana nzira dzekuongorora (zvakadai seDenavit-Hartenberg parameter method) kugadzirisa kubatanidza kusina mutsara.
Adaptive control uye fungidziro yekudzora: Dynamically gadzirisa kudzora paramita mukupindura kuchinjika kwemutoro kana kukanganiswa kwekunze kuti uvandudze kusimba kwehurongwa.
2. Sensor Fusion uye Feedback
Maonero chaiwo ekufamba anoenderana-nemasensor data fusion, akadai se:
• Maencoder: Chaiyo{0}}kutarisisa nguva yemakona emotor kana kuti linear displacement;
• Inertial Measurement Units (IMUs): Kupa kukurumidza uye angular velocity data kubatsira mukufungidzira mafungiro;
• Laser rangefinders/masisitimu ekuona: Inoshandiswa pakukwenenzvera-kunetswa kwekunze.
Kubatanidza akawanda-ruzivo rwekunobva kuburikidza neKalman kusefa kana neural network algorithms kunogona kuderedza zvakanyanya kuwanda kwemhosho.
3. Magadzirirwo Ekugadzira uye Mechanical Optimization
Iko kuoma uye pakati pekugovera kwesimba rinokwevera kwepuratifomu chimiro chemichina chinokanganisa zvakananga kuita kwekufamba. Mazano ekugadzira anosanganisira:
• Kuenzanisa huremu uye simba: Kushandisa carbon fiber composite kana aluminium alloy frames;
• Rational drive marongerwo: Semuenzaniso, symmetrical kugoverwa kwematavi muStewart platform inogona kuderedza kusaenzana kwe torque;
• Dhizaini yekudzikisa nekudzikisa kuzunguzika: Kudzvanyirira-frequency vibrations izvo zvinokanganisa kutonga chaiko.
III. Yakajairika Mamiriro Ekushandisa uye Maitiro Anoshanda
1. Kudzidzira Ndege / Motokari Simulation
Madhigirii{{0}matanhatu-e{2}}mapuratifomu erusununguko anopa mamiriro echokwadi ekudzidzira kuvatyairi vendege kana vatyairi kuburikidza nekutevedzera zvinochinja zvakaita sekumhanyisa nekurereka. Nzira dzekushandisa dzinosanganisira:
• Kugadzira chinangwa chekufamba trajectories yakavakirwa painjini dzefizikisi (senge MATLAB/Simulink);
• Kubatanidza ne hydraulic servo systems kuti uwane kutama kukuru uye torque kubuda;
• Kuwedzera kudyidzana realism kuburikidza simba mhinduro mano.
2. Industrial Product Testing
Mukuongorora kuparara kwemotokari kana kuti electronic product seismic testing, madhigirii{{0}akawanda-e-emahara epuratifomu anogona kudzokorora mamiriro ekushanda zvakanyanya. Semuyenzaniso:
• Kushandisa zvisina tsarukano vibration control algorithms kugadzira excitation spectra inoenderana nezviyero (se ISO 16750);
• Kuona kusimba kwechigadzirwa tichishandisa-masenzi ekuchinjisa chaiwo.
3. Kurapa uye Rehabilitation Robotics
Rehabilitation kudzidzisa mapuratifomu anobatsira varwere kuti vadzore mashandiro emakumbo kuburikidza neanoshanda uye passive kufamba maitiro. Makiyi matekinoroji anosanganisira:
• Kugadzirisa amplitude yekufamba zvichienderana nemurwere electromyographic (EMG) zviratidzo;
• Kushandisa nzira dzekutonga dzinoenderana kudzivirira kukuvara kwechipiri.
IV. Ramangwana Development MaDirections
Nekufambira mberi muungwaru hwekugadzira uye tekinoroji yemidziyo mitsva,-madhigirii-e-mapuratifomu erusununguko ari kuenda kunjere nekuita zvishoma. Semuyenzaniso:
Kuunza tekinoroji yemapatya edhijitari kuti uwane kudzora chaikoiko panguva imwe cheteyo-;
Kugadzira lightweight actuators zvichibva pane chimiro memory alloys;
Kuwedzera muminda ichiri kusimukira senge space manipulators uye marobhoti epasi pemvura.
Mhedziso
Kuvandudzwa kwenzira mu{{0}madhigirii{1}}e{2}}enzvimbo yerusununguko kunoenderera mberi nekupinda mumiganhu-yekudyidzana kwevanhu neruzivo rwemichina. Kuburikidza nekubatanidzwa kwakadzama kwedzidziso yekutonga, dhizaini yekugadzira, uye mashandisirwo emarudzi akasiyana-siyana, kugona kwavo kuchaburitswa muhuwandu hwakawanda hwezviitiko.
