Sisitemu yimiterere ya mashini
Urebye imiterere yubukanishi, robot yinganda zigabanijwemo ibice byimashini hamwe na robo zibangikanye. Ikiranga robot zikurikirana ni uko kugenda kwa axis imwe ihindura inkomoko ya sisitemu yo guhuza iyindi ntera, mugihe urujya n'uruza rumwe muri robot ibangikanye ntiruhindura inkomoko ya sisitemu yo guhuza iyindi axe. Imashini za robo zo hambere zose zakoreshaga uburyo bukurikirana. Uburyo bubangikanye busobanurwa nkuburyo bufunze - uburyo bwo guhinduranya aho urubuga rugenda hamwe na platifomu ihamye ihujwe byibuze n'iminyururu ibiri yigenga ya kinematike, ubwo buryo bufite impamyabumenyi ebyiri cyangwa nyinshi zubwisanzure, kandi bugenda bubangikanye. Uburyo bubangikanye bufite ibice bibiri: ukuboko n'ukuboko. Ikiganza cyikiganza cyacyo kigira ingaruka zikomeye kumwanya wakazi, mugihe ukuboko ni isano hagati yigikoresho numubiri nyamukuru. Ugereranije na robo zikurikirana, robot zibangikanye zifite ibyiza nko gukomera gukomeye, gutuza kumiterere, umutwaro uremereye - ubushobozi bwo gutwara, micro yo hejuru - neza neza, hamwe nuburemere buke bwo kugenda. Mu kugena imyanya, igisubizo cyimbere kuri robot zikurikirana ziroroshye, ariko igisubizo kinyuranye kiragoye cyane; muburyo bunyuranye, kuri robot ibangikanye, igisubizo cyimbere kiragoye, ariko igisubizo kinyuranye kiroroshye cyane.
Sisitemu yo gutwara
Sisitemu yo gutwara ni igikoresho gitanga imbaraga kuri sisitemu yububiko. Ukurikije inkomoko yimbaraga, sisitemu yo gutwara ibinyabiziga ishyizwe mubwoko bune: hydraulic, pneumatic, amashanyarazi, na mashini. Imashini za robo zo hambere zakoreshaga hydraulic. Nyamara, kubera ibibazo nko kumeneka, urusaku, hamwe n’umuvuduko muke -, kimwe n’amashanyarazi manini kandi ahenze, disiki ya hydraulic ikoreshwa gusa muri robo nini, ziremereye -, ama robo atunganya ibintu, hamwe na porogaramu zidasanzwe. Pneumatic drives itanga ibyiza nkumuvuduko mwinshi, imiterere ya sisitemu yoroshye, kubungabunga byoroshye, nigiciro gito. Nyamara, ibikoresho bya pneumatike bikora kumuvuduko muke, bigatuma guhagarara neza bigoye, kandi mubisanzwe bikoreshwa gusa mugutwara amaherezo ya robo yinganda. Gneppers ya pneumatike, silindari izunguruka, hamwe nibikombe byo guswera pneumatike birashobora gukoreshwa nkibikorwa byanyuma kugirango ibintu bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bito bifata amajwi bifata amajwi. Amashanyarazi kuri ubu nuburyo bukoreshwa cyane. Ibiranga harimo amashanyarazi yoroshye, igisubizo cyihuse, imbaraga nini zo gutwara, kumenya ibimenyetso byoroshye, kohereza, no gutunganya, hamwe nubushobozi bwo gukoresha uburyo butandukanye bwo kugenzura byoroshye. Moteri yo gutwara ibinyabiziga ikoresha moteri yintambwe cyangwa servo moteri; moteri itwara ibinyabiziga nayo irakoreshwa, ariko izi zihenze kandi zifite ubugenzuzi bukomeye. Kugabanya bihuye na moteri mubisanzwe bigabanya guhuza, kugabanya cycwidal pinwheel, cyangwa kugabanya ibikoresho byimibumbe. Bitewe numurongo wingenzi wibisabwa bisabwa muri robot ibangikanye, moteri yumurongo yemejwe cyane muriki gice.
Sisitemu yo Kumva
Sisitemu yo kwiyumvisha robot ihindura imiterere yimbere yimbere namakuru y’ibidukikije kuva ku bimenyetso mu makuru no mu makuru robot ubwayo cyangwa izindi robo zishobora kumva no gushyira mu bikorwa. Usibye kumva ubwinshi bwubukanishi bujyanye nuburyo bukora, nko kwimuka, umuvuduko, nimbaraga, tekinoroji yo kubona ibintu ni ikintu cyingenzi cyo kumva robot yinganda. Sisitemu ya servo igaragara ikoresha amakuru yerekana nkibimenyetso byo gutanga ibitekerezo kugirango ugenzure kandi uhindure imyanya ya robo. Sisitemu yo kureba imashini nayo ikoreshwa cyane mugusuzuma ubuziranenge, kumenyekanisha ibihangano, gutondeka ibiryo, no gupakira. Sisitemu yo kumva igizwe n'imbere na hanze ya sensor module; ikoreshwa rya sensor yubwenge itezimbere robot igenda, ihuza n'ubwenge.
