Amakuru

DSPOWER yatangiye muri 2013 kandi ni uruganda rwibanze ku bushakashatsi niterambere, gukora no kwigisha serivise za robo,ubwenge bwa robo, serivise zitagira abadereva, nibindi bikoresho bijyanye.

Kuva yashingwa, twibanze kubisabwa na robo na serivise zitagira abadereva, tunashushanya kandi tunatezimbere ibicuruzwa bya servo bibereye abakoresha robot.

Uyu munsi, tuzasangira ibisubizo byamaboko ya robo.

Ukuboko kwa robo gukora kugenzura ibintu, kimwe no gutera ubugingo muri skeleton yicyuma, kandi servo numuyobozi utangaje bidasanzwe. Mu mahugurwa ya DSPOWER ya R&D, burimunsi dushobora kubona ibyo bice byahinduwe kuva mubishushanyo bigahinduka ababyinnyi ba mashini.

Uyu munsi, ndashaka kukubwira uburyo servo ituma ukuboko kwa robo ikora kuburyo bworoshye nkukuboko kwabantu, bikubiyemo ibikoresho byombi bisobekeranye hamwe na gahunda yubwenge.

Uburyo Servo Igenzura Inguni Yamaboko ya Robo

Servo ikubiyemo sisitemu yo gutanga ibitekerezo byubwenge cyane. Potentiometero ikurikirana ibisohoka bya shaft mugihe nyacyo iyo yakiriye ikimenyetso cyo kugenzura. Nyuma yo kugereranya iyi myanya nu mwanya ugenewe, ihita ihindura moteri.

Ibi bisa no gukora ku kintu ukoresheje ukuboko kwawe mugihe ukingira amaso yawe, aho intoki zawe zihora zihindura umunota kugeza igihe imyanya igeze igeze. Servo twateguye neza mugusukura robot ikoresha itumanaho rya TTL, ituma buri rugingo rutanga amakuru yigenga yamakuru yumwanya.Ibi byemeza ko mugihe ukuboko kwa robo kugumye kumurongo wateganijwe, ikosa riri munsi ya dogere 0.5.

Mubikorwa bifatika, buri rugingo mumaboko ya robo rugomba guhuza muburyo butandukanye. Kurugero, mugihe ufashe igikombe kigoramye, servo yintoki igomba kwishyura indishyi ya dogere 15, mugihe servo yigitugu ikomeza dogere 30 zinkunga.

Uku guhuza impande nyinshi bisaba servo gusubiza vuba. Dukoresha ibyuma byerekana ibyuma bishobora kugumya guhagarara no munsi ya 85 kgf.cm yumuriro, nko kongeramo imitsi irwanya umunaniro mukuboko kwa robo.

Kuki ari ngombwa ko servos nyinshi zikorana?

Servo imwe irashobora kugera gusa ku guhindagurika kworoheje, nyamara ukuboko kwa robo kugomba gukora hamwe nubwinshi bwikiganza cyumuntu. Tekereza gufata ikaramu wandika; iki gikorwa gisaba kugenda guhuza intoki, inkokora, nigitugu.

Muri eshanu axis robotic vacuum isuku yatunganijwe na mugenzi wawe, icyiciro cyambere imbere servos yikoreye umutwaro, urwego rwo hagati rwihuriro servos igenzura kwaguka kwaguka, naho seriveri yanyuma ikora neza. Igabana ry'imirimo ni nka orchestre ya simfoniya ihuza ibikoresho bitandukanye.

Muri sisitemu nyinshi ya servo, kugenzura igihe birakomeye. Twigeze kugira ikibazo aho ukuboko kwa robo kanyeganyega mugihe twafashe igi. Nyuma twaje kubona ko ibyo byatewe no gutinda kwa milisegonda 10 mugusubiza intoki nintoki. Mugutezimbere gukwirakwiza ibimenyetso bya PWM, twashoboye kugera kuri syncronisation yuzuye ya servos zose, nka korari yatojwe. Noneho, iyi sisitemu irashobora gufata neza amagi mbisi atayavunitse.

Nigute servo torque igira ingaruka kumaboko ya robo?

Ibi birasa no kumva ukuboko kwumuntu kunyeganyega.

Nyamara, urumuri rwo hejuru ntabwo buri gihe ari rwiza. Umuvuduko ukabije wongera ingufu kandi ushobora no kuganisha ku binini. Serivisi twateguye kuri robo ya desktop irashoborakugera kubikorwa byinshi byoroshye hamwe na torque ya 6.3 kgf.cm. Urufunguzo ni uguhuza torque nibisabwa umutwaro wamaboko ya robo, nkigihe uhitamo moteri yimodoka, ntukeneye buri gihe gukurikirana imbaraga nini cyane.

Nigute wahitamo robot ya Arm Servo Model

Mugihe uhitamo moderi ya servo, tekereza kubikorwa bya robo. Kubisabwa bisaba gutangira kenshi no guhagarara, servo ya digitale ifite imikorere ya feri irasabwa. Ikibazo kimwe cyabakiriya twahuye nacyo kirimo umurongo wibyakozwe byikora bisabaukuboko kwa robo kugirango ugere kuri 20 guhagarara neza kumunota. Serivisi zisanzwe zisa nazo zishobora guhura namakosa yo gukusanya, mugihe serivise ya digitale, hamwe nigipimo cyayo cyo kugarura ubuyanja, ikemura neza iki kibazo.

Guhuza ibipimo nabyo ni ngombwa. Mubihe byashize, abakiriya bamwe bashyiraga serivise zisanzwe mumaboko ya robo yoroheje, bigatuma ubushyuhe buke butagabanuka. Twahise dukora progaramu idasanzwe ya 26mm ya gripper servo, ni ntoya 40% mugihe dukomeza umubyimba wa kg 3 cm. Nukudoda imyenda kububoko bwa robo - igomba kwemerera kugenda kubuntu bitarekuwe cyane.

Ni irihe tandukaniro riri muri protocole yo kugenzura servo?

Porotokole ya PWM, isa na kanda ya beat-beat, yohereza amategeko akoresheje ubugari bwa pulse, mugihe protocole ya TTL, nkikiganiro, irashobora kohereza ibintu byinshi bigoye. Muri laboratoire ya DSPOWER, dukunze kugereranya protocole ebyiri.

PWM irakwiriye kubintu byoroshye kugirango igenzure ingingo, nko kuzimya itara cyangwa kuzimya, mugiheTTL irashobora kubona icyarimwe ibimenyetso byinshi byo gutanga ibitekerezo, nk'imyanya, ubushyuhe, n'ibigezweho.

Kugeza ubu, intwaro nyinshi za robo zirimo gufata protocole ya Hybrid, nkumushinga wa bionic robotic umushinga. Ibikorwa byibanze bifashisha igenzura rya PWM kugirango umenye neza igihe nyacyo, mugihe uhuza neza na TTL wohereza ibipimo birambuye.

Ibi ni nko gutwara imodoka, aho ukeneye gukoresha pedale kugirango ugenzure umuvuduko hamwe na bande kugirango ukurikirane imiterere. Iboneza ryoroshye ryemerera amaboko ya robo guhuza nibikorwa bigenda bigorana.

Nigute Wanoza Servo Igenzura neza

Kunoza ubunyangamugayo bisaba ibyuma na software. Mubyuma, dukoresha ibikoresho bya 0.1mm byuzuye neza kugirango tugabanye kohereza inyuma. Umukiriya yatanze raporoguhora 2mm wobble kumpera yukuboko kwa robo. Nyuma yiperereza, twasanze ibyo byatewe na gear meshing backlash.

Mugusimbuza ibyuma nibikoresho byubaka, ikibazo cyarakemutse. Ibi bisa nigenda ryisaha: ubunyangamugayo bwa buri bikoresho bigira ingaruka kumwanya rusange.

Icyangombwa kimwe ni software. Sisitemu yacu yo kurwanya shake irahanura inertia yimikorere yukuboko kwa robo kandi ikabishyura mbere. Kurugero, mugihe cyo guhagarara byihutirwa, bitanga ibimenyetso bihinduranya neza kugirango bikureho ibisasu biterwa na inertia, nkumushoferi ufite uburambe akoresha buhoro buhoro pedal feri kugirango ahagarare neza, ntakumirwa.