Amakuru yinganda
0102030405
Imashini irindwi yinganda za robo vs robot esheshatu yinganda, imbaraga nizihe?
2023-12-08
Mu myaka yashize, ibihangange by’imashini n’ibihugu byinshi byashyize ahagaragara robot zirindwi zinganda zifata isoko rishya ryo mu rwego rwo hejuru, ibyo bikaba byaratumye dutekereza cyane kuri robo ndwi. Ni izihe nyungu zidasanzwe za tekiniki, ubushakashatsi n’ingorabahizi mu iterambere, kandi ni ibihe bicuruzwa birindwi by’inganda za robo byasohotse mu mahanga mu myaka yashize? Imashini zingahe zigomba kugira robot yinganda?
Kugeza ubu, ama robo yinganda yagiye akoreshwa cyane mubyiciro byose, ariko twasanze kandi ama robo yinganda zidafite imiterere itandukanye gusa, ahubwo ifite nimibare itandukanye. Ibyo bita axis ya robot yinganda zirashobora gusobanurwa nurwego rwumwuga urwego rwubwisanzure. Niba robot ifite impamyabumenyi eshatu zubwisanzure, irashobora kugenda yisanzuye kumashoka ya X, y na Z, ariko ntishobora guhindagurika cyangwa kuzunguruka. Iyo umubare w'amashoka ya robo wiyongereye, biroroshye guhinduka kuri robo. Imashini zinganda zigomba kugira amashoka angahe? Imashini eshatu ya axis nayo yitwa Cartesian coordinate cyangwa robot ya Cartesian. Ishoka yayo itatu irashobora kwemerera robot kugendana amashoka atatu. Ubu bwoko bwa robo bukoreshwa mubikorwa byoroshye byo gukora. 
Imashini enye irashobora kuzenguruka X, y na Z. Bitandukanye na robot eshatu-axis, ifite umurongo wa kane wigenga. Muri rusange, robot ya SCARA irashobora gufatwa nka robot enye. Imirongo itanu ni iboneza rya robo nyinshi zinganda. Izi robo zirashobora kuzunguruka zinyuze mu kirere cyizuba cya X, y na Z. icyarimwe, zirashobora guhindukira zishingiye ku murongo ku musingi no ku murongo hamwe no guhinduranya ukuboko byoroshye, ibyo bikaba byongera guhinduka. Imashini itandatu ya robot irashobora kunyura muri X, y na Z, kandi buri axe irashobora kuzunguruka yigenga. Itandukaniro rinini kuri robot eshanu axis nuko hariho umurongo winyongera ushobora kuzunguruka mubuntu. Uhagarariye robot esheshatu axis ni robot yaao. Binyuze mu gifuniko cy'ubururu kuri robo, urashobora kubara neza umubare w'amashoka ya robo. Imashini irindwi ya axis, izwi kandi nka robot isubirwamo, ugereranije na robot esheshatu, umurongo winyongera utuma robot yirinda intego zimwe na zimwe, koroshya imikorere yanyuma kugirango igere kumwanya runaka, kandi irashobora guhinduka muburyo bworoshye bwo gukora. Hamwe no kwiyongera kwamashoka, guhinduka kwa robo nabyo biriyongera. Nyamara, mubikorwa byubu byinganda, bitatu-axis, bine-axis na esheshatu za robo yinganda zikoreshwa cyane. Ibi ni ukubera ko mubisabwa bimwe, guhinduka kwinshi ntigusabwa, robot eshatu-axis na bine-axis za robo zifite igiciro cyinshi-cyiza, kandi robot eshatu-axis na bine-axis nazo zifite ibyiza byinshi mumuvuduko. Mu bihe biri imbere, mu nganda 3C zikeneye guhinduka cyane, robot irindwi yinganda zizaba zifite aho zikinira. Nukwiyongera kwukuri, kuzasimbuza intoki intoki zicuruzwa neza nka terefone igendanwa mugihe cya vuba. Ni izihe nyungu za robot zirindwi zinganda zirenga robot esheshatu zinganda? Mubuhanga, nikihe kibazo kijyanye na robot esheshatu zinganda zinganda kandi ni izihe mbaraga za robo zirindwi zinganda? (1) Kunoza ibiranga kinematike Muri kinematika ya robo, ibibazo bitatu bituma kugenda kwa robo bigarukira cyane. Iya mbere ni imiterere imwe. Iyo robot iri muburyo bumwe, imikorere yayo ya nyuma ntishobora kugenda mu cyerekezo runaka cyangwa ngo ikoreshe itara, bityo iboneza ryihariye rigira ingaruka cyane kuri gahunda yo kugenda. Igice cya gatandatu na axe ya kane ya robot esheshatu ni collinear Iya kabiri ni ihuriro ryimurwa rirenze. Mubikorwa nyabyo byakazi, inguni ya buri rugingo rwa robo irahari. Leta nziza ni plus cyangwa gukuramo dogere 180, ariko ingingo nyinshi ntishobora kubikora. Mubyongeyeho, robot irindwi ya axis irashobora kwirinda umuvuduko wihuta cyane kandi ikagabanya umuvuduko wihuta. Urutonde rwumuvuduko n umuvuduko ntarengwa wa buri axe ya Xinsong irindwi ya robot Icya gatatu, hari inzitizi mubikorwa bikora. Mubidukikije byinganda, hari inzitizi zitandukanye zibidukikije mubihe byinshi. Imashini itandatu ya robot ntishobora guhindura gusa imyifatire yuburyo bwanyuma idahinduye umwanya wuburyo bwanyuma. (2) Kunoza ibiranga imbaraga Kuri robot irindwi ya axis, ukoresheje impamyabumenyi zirenze urugero zubwisanzure ntibishobora kugera kubintu byiza bya kinematike gusa binyuze mumigambi yinzira, ariko kandi ikoresha imiterere yayo kugirango igere kumikorere myiza. Imashini irindwi ya axis irashobora kumenya isaranganya rya torque ihuriweho, ikubiyemo ikibazo cyuburinganire bwimiterere ya robo, ni ukuvuga imbaraga zikora kumpera zishobora kubarwa na algorithm runaka. Kuri robot esheshatu gakondo, imbaraga za buri rugingo zirashidikanywaho, kandi ikwirakwizwa ryayo rishobora kuba ridafite ishingiro. Nyamara, kuri robo irindwi ya axis, turashobora guhindura torque ya buri rugingo tunyuze kuri algorithm yo kugenzura kugirango torque itwarwa numuyoboro udakomeye nkibishoboka, kugirango igabanywa ryumuriro wa robo yose irusheho kuba imwe kandi yumvikana. (3) Kwihanganira amakosa Mugihe byananiranye, niba urugingo rumwe rwananiwe, robot isanzwe ya axis itandatu ntishobora gukomeza kurangiza imirimo, mugihe robot irindwi ya axis irashobora gukomeza gukora mubisanzwe muguhindura isaranganya ryumuvuduko watsinzwe (kwihanganira amakosa ya kinematike) kandi itara ryananiranye (kwihanganira amakosa). 
Buri kuboko kumwe kwa Yumi gafite dogere zirindwi zubwisanzure naho uburemere bwumubiri ni kg 38. Umutwaro wa buri kuboko ni 0.5kg, kandi umwanya uhagaze neza ushobora kugera kuri 0.02mm. Kubwibyo, irakwiriye cyane cyane guteranya ibice bito, ibicuruzwa byabaguzi, ibikinisho nindi mirima. Kuva ibice byuzuye byamasaha yubukanishi kugeza gutunganya terefone zigendanwa, mudasobwa ya tablet na mudasobwa ya desktop, Yumi ntakibazo, kigaragaza ibintu byiza biranga robot itagira umupaka, nko kwagura ahantu hashobora kugerwaho, guhinduka, kwihuta no kwizerwa. -Yaskawa Motoman SIA Amashanyarazi YASKAWA, azwi cyane mu gukora imashini za robo mu Buyapani akaba n'umwe mu "miryango ine", yasohoye kandi ibicuruzwa birindwi bya robo. Imashini za SIA zikurikirana ni robo yoroheje irindwi ya robo, ishobora gutanga ihinduka ryumuntu kandi ryihuta. Igishushanyo cyoroheje kandi cyoroheje cyuruhererekane rwa robo ituma ikwiranye cyane no kwishyiriraho umwanya muto. Urukurikirane rwa SIA rushobora gutanga imizigo myinshi (5kg kugeza kuri 50kg) hamwe nakazi gakomeye (559mm kugeza 1630mm), ikwiriye cyane guterana, kubumba inshinge, kugenzura nibindi bikorwa. Usibye urumuri rwibikoresho birindwi bya robot, Yaskawa yanasohoye sisitemu ndwi yo gusudira ya robo. Urwego rwo hejuru rwubwisanzure rushobora kugumana igihagararo gikwiye hashoboka kugirango ugere ku ngaruka nziza yo gusudira, cyane cyane ibereye gusudira imbere kandi igere ku mwanya mwiza wo kwegera. Byongeye kandi, ibicuruzwa birashobora kugira imiterere-yubucucike bukabije, byoroshye kwirinda kwivanga hagati yacyo nigiti nakazi, kandi bikerekana imikorere yacyo yo kwirinda inzitizi. -Ubwenge bwinshi, niko Presto mr20 Nko mu mpera zumwaka wa 2007, Na bueryue yateje imbere impamyabumenyi irindwi yubwisanzure "Presto mr20". Mugukoresha igishushanyo cya karindwi, robot irashobora gukora akazi katoroshye kandi ikagenda ahantu hafunganye nkamaboko yumuntu. Mubyongeyeho, Imbere yimashini Imbere ya torque ya (ukuboko) irikubye kabiri iyambere ya robot esheshatu gakondo. Umuyoboro wibikoresho bisanzwe ni 20kg. Mugushiraho urwego rwibikorwa, irashobora gutwara 30kg yingingo, urwego rwakazi ni 1260mm, naho imyanya isubirwamo ni 0.1mm. Mugukoresha imiterere irindwi ya axis, mr20 irashobora gukora uhereye kuruhande rwigikoresho cyimashini mugihe ufata no gushyira ibihangano kumashini. Muri ubu buryo, Itezimbere imikorere yo gutegura no kuyitunganya mbere. Umwanya uri hagati yimashini zirashobora kugabanuka kugeza munsi ya kimwe cya kabiri cyimashini itandatu ya robot. 
Byongeye kandi, nazhibueryue yasohoye kandi robot ebyiri zinganda, mr35 (zifite umutwaro wa 35kg) na mr50 (zifite umutwaro wa 50kg), zishobora gukoreshwa ahantu hafunganye hamwe n’inzitizi. -OTC irindwi ya robot yinganda Odish yo mumatsinda ya daihen mubuyapani yashyize ahagaragara robot zirindwi ziheruka (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls na fd-v20s). Bitewe no kuzenguruka umurongo wa karindwi, barashobora kubona igikorwa kimwe cyo kugoreka nkintoki zabantu no gusudira mugihe kirenze icyumweru; hiyongereyeho, robot zirindwi za axis ni abantu (fd-b4s, fd-b4ls) umugozi wo gusudira uhishe mumubiri wa robo, kubwibyo rero nta mpamvu yo kwitondera kwivanga hagati ya robo, ibikoresho byo gusudira hamwe nakazi kakozwe mugihe cya ibikorwa byo kwigisha. Igikorwa kiroroshye cyane, kandi urwego rwubwisanzure bwo gusudira ruhagaze rwarushijeho kunozwa, rushobora kuzuza inenge robot gakondo idashobora kwinjira mu gusudira kubera kwivanga mubikorwa cyangwa gusudira. -Baxter na Sawyer wo kongera gutekereza kuri Robo Rethink robotics nintangarugero ya robo ya koperative. Muri byo, robot ya kabiri ya Baxter yakozwe bwa mbere, ifite dogere zirindwi zubwisanzure kumaboko yombi, kandi intera nini yo gukora yukuboko kumwe ni 1210mm. Baxter irashobora gutunganya imirimo ibiri itandukanye icyarimwe kugirango yongere ibisabwa, cyangwa itunganyirize umurimo umwe mugihe nyacyo kugirango yongere umusaruro. Sawyer, yatangijwe umwaka ushize, ni ukuboko kumwe robot irindwi axis. Ihuriro ryayo ryoroshye rikoresha urukurikirane rumwe rwa elastique, ariko rukoreshwa mu ngingo zarwo rwarahinduwe kugirango rube ruto. Kuberako igishushanyo mbonera cya karindwi cyemewe kandi urwego rwakazi rugera kuri 100mm, rushobora kurangiza umurimo wakazi hamwe nuburemere bunini, kandi umutwaro urashobora kugera kuri 4kg, ukaba munini cyane kuruta 2.2 kg yishyurwa rya robot ya Baxter. -Yamaha irindwi axis robot Urukurikirane Muri 2015, Yamaha yashyize ahagaragara robot eshatu zirindwi "ya-u5f", "ya-u10f" na "ya-u20f", ziyobowe kandi zigenzurwa n’umugenzuzi mushya "ya-c100". Imashini ya 7-axis ifite e-axis ihwanye ninkokora yumuntu, bityo irashobora kurangiza kubuntu kubusa, torsion, kwaguka nibindi bikorwa. Ndetse no mu cyuho gito aho bigoye ko robot ikora igikorwa munsi yamashoka 6, imikorere nogushiraho birashobora kurangira neza. Mubyongeyeho, irashobora kandi kumenya imyanya yo hasi ya squat hamwe nigikorwa cyo kuzenguruka inyuma yigikoresho. Imashini ifite imiterere yubusa iremewe, kandi umugozi wibikoresho hamwe na hose ya air byubatswe mukuboko kwa mashini, bitazabangamira ibikoresho bikikije kandi birashobora kubona umurongo uhingura.
Imashini enye irashobora kuzenguruka X, y na Z. Bitandukanye na robot eshatu-axis, ifite umurongo wa kane wigenga. Muri rusange, robot ya SCARA irashobora gufatwa nka robot enye. Imirongo itanu ni iboneza rya robo nyinshi zinganda. Izi robo zirashobora kuzunguruka zinyuze mu kirere cyizuba cya X, y na Z. icyarimwe, zirashobora guhindukira zishingiye ku murongo ku musingi no ku murongo hamwe no guhinduranya ukuboko byoroshye, ibyo bikaba byongera guhinduka. Imashini itandatu ya robot irashobora kunyura muri X, y na Z, kandi buri axe irashobora kuzunguruka yigenga. Itandukaniro rinini kuri robot eshanu axis nuko hariho umurongo winyongera ushobora kuzunguruka mubuntu. Uhagarariye robot esheshatu axis ni robot yaao. Binyuze mu gifuniko cy'ubururu kuri robo, urashobora kubara neza umubare w'amashoka ya robo. Imashini irindwi ya axis, izwi kandi nka robot isubirwamo, ugereranije na robot esheshatu, umurongo winyongera utuma robot yirinda intego zimwe na zimwe, koroshya imikorere yanyuma kugirango igere kumwanya runaka, kandi irashobora guhinduka muburyo bworoshye bwo gukora. Hamwe no kwiyongera kwamashoka, guhinduka kwa robo nabyo biriyongera. Nyamara, mubikorwa byubu byinganda, bitatu-axis, bine-axis na esheshatu za robo yinganda zikoreshwa cyane. Ibi ni ukubera ko mubisabwa bimwe, guhinduka kwinshi ntigusabwa, robot eshatu-axis na bine-axis za robo zifite igiciro cyinshi-cyiza, kandi robot eshatu-axis na bine-axis nazo zifite ibyiza byinshi mumuvuduko. Mu bihe biri imbere, mu nganda 3C zikeneye guhinduka cyane, robot irindwi yinganda zizaba zifite aho zikinira. Nukwiyongera kwukuri, kuzasimbuza intoki intoki zicuruzwa neza nka terefone igendanwa mugihe cya vuba. Ni izihe nyungu za robot zirindwi zinganda zirenga robot esheshatu zinganda? Mubuhanga, nikihe kibazo kijyanye na robot esheshatu zinganda zinganda kandi ni izihe mbaraga za robo zirindwi zinganda? (1) Kunoza ibiranga kinematike Muri kinematika ya robo, ibibazo bitatu bituma kugenda kwa robo bigarukira cyane. Iya mbere ni imiterere imwe. Iyo robot iri muburyo bumwe, imikorere yayo ya nyuma ntishobora kugenda mu cyerekezo runaka cyangwa ngo ikoreshe itara, bityo iboneza ryihariye rigira ingaruka cyane kuri gahunda yo kugenda. Igice cya gatandatu na axe ya kane ya robot esheshatu ni collinear Iya kabiri ni ihuriro ryimurwa rirenze. Mubikorwa nyabyo byakazi, inguni ya buri rugingo rwa robo irahari. Leta nziza ni plus cyangwa gukuramo dogere 180, ariko ingingo nyinshi ntishobora kubikora. Mubyongeyeho, robot irindwi ya axis irashobora kwirinda umuvuduko wihuta cyane kandi ikagabanya umuvuduko wihuta. Urutonde rwumuvuduko n umuvuduko ntarengwa wa buri axe ya Xinsong irindwi ya robot Icya gatatu, hari inzitizi mubikorwa bikora. Mubidukikije byinganda, hari inzitizi zitandukanye zibidukikije mubihe byinshi. Imashini itandatu ya robot ntishobora guhindura gusa imyifatire yuburyo bwanyuma idahinduye umwanya wuburyo bwanyuma. (2) Kunoza ibiranga imbaraga Kuri robot irindwi ya axis, ukoresheje impamyabumenyi zirenze urugero zubwisanzure ntibishobora kugera kubintu byiza bya kinematike gusa binyuze mumigambi yinzira, ariko kandi ikoresha imiterere yayo kugirango igere kumikorere myiza. Imashini irindwi ya axis irashobora kumenya isaranganya rya torque ihuriweho, ikubiyemo ikibazo cyuburinganire bwimiterere ya robo, ni ukuvuga imbaraga zikora kumpera zishobora kubarwa na algorithm runaka. Kuri robot esheshatu gakondo, imbaraga za buri rugingo zirashidikanywaho, kandi ikwirakwizwa ryayo rishobora kuba ridafite ishingiro. Nyamara, kuri robo irindwi ya axis, turashobora guhindura torque ya buri rugingo tunyuze kuri algorithm yo kugenzura kugirango torque itwarwa numuyoboro udakomeye nkibishoboka, kugirango igabanywa ryumuriro wa robo yose irusheho kuba imwe kandi yumvikana. (3) Kwihanganira amakosa Mugihe byananiranye, niba urugingo rumwe rwananiwe, robot isanzwe ya axis itandatu ntishobora gukomeza kurangiza imirimo, mugihe robot irindwi ya axis irashobora gukomeza gukora mubisanzwe muguhindura isaranganya ryumuvuduko watsinzwe (kwihanganira amakosa ya kinematike) kandi itara ryananiranye (kwihanganira amakosa). Ibicuruzwa birindwi bya robo yinganda zikora ibihangange mpuzamahanga
Haba uhereye kubicuruzwa cyangwa muburyo bwo kubisaba, robot irindwi yinganda zinganda ziracyari mubyiciro byambere byiterambere, ariko ababikora bakomeye basunikishije ibicuruzwa bijyanye mumurikagurisha rikomeye. Turashobora kwiyumvisha ko bafite ibyiringiro cyane kubijyanye niterambere ryigihe kizaza. -KUKA LBR iiwa Mu Gushyingo 2014, KUKA yasohoye bwa mbere KUKA ya mbere ya 7-DOF yoroheje y’umucyo wa lbriiwa mu imurikagurisha ry’imurikagurisha ry’imurikagurisha mpuzamahanga ry’Ubushinwa. Lbriiwa robot irindwi ya axis yateguwe ishingiye kubiganza byabantu. Hamwe na sisitemu ihuriweho na sisitemu, robot yoroheje ifite sensibilité programme kandi yukuri cyane. Ishoka yose ya axis irindwi lbriiwa ifite ibikoresho byo hejuru byo kugongana hamwe no guhuza ibyuma bya torque sensor kugirango tumenye ubufatanye bwimashini. Igishushanyo cya karindwi cyerekana ibicuruzwa bya KUKA bifite ihinduka ryinshi kandi birashobora kurenga inzitizi byoroshye. Imiterere ya robot ya lbriiwa ikozwe muri aluminium, kandi uburemere bwayo ni kg 23.9 gusa. Hariho ubwoko bubiri bwimitwaro, 7 kg na 14 kg bikurikiranye, bituma iba robot yambere yoroheje ifite umutwaro urenze kg 10. - ABB YuMi Ku ya 13 Mata 2015, abb yashyize ku mugaragaro robot ya mbere y’inganda ebyiri ku isi Yumi yerekana neza ubufatanye bw’imashini ku isoko mu imurikagurisha ry’inganda ryabereye i Hanover, mu Budage Buri kuboko kumwe kwa Yumi gafite dogere zirindwi zubwisanzure naho uburemere bwumubiri ni kg 38. Umutwaro wa buri kuboko ni 0.5kg, kandi umwanya uhagaze neza ushobora kugera kuri 0.02mm. Kubwibyo, irakwiriye cyane cyane guteranya ibice bito, ibicuruzwa byabaguzi, ibikinisho nindi mirima. Kuva ibice byuzuye byamasaha yubukanishi kugeza gutunganya terefone zigendanwa, mudasobwa ya tablet na mudasobwa ya desktop, Yumi ntakibazo, kigaragaza ibintu byiza biranga robot itagira umupaka, nko kwagura ahantu hashobora kugerwaho, guhinduka, kwihuta no kwizerwa. -Yaskawa Motoman SIA Amashanyarazi YASKAWA, azwi cyane mu gukora imashini za robo mu Buyapani akaba n'umwe mu "miryango ine", yasohoye kandi ibicuruzwa birindwi bya robo. Imashini za SIA zikurikirana ni robo yoroheje irindwi ya robo, ishobora gutanga ihinduka ryumuntu kandi ryihuta. Igishushanyo cyoroheje kandi cyoroheje cyuruhererekane rwa robo ituma ikwiranye cyane no kwishyiriraho umwanya muto. Urukurikirane rwa SIA rushobora gutanga imizigo myinshi (5kg kugeza kuri 50kg) hamwe nakazi gakomeye (559mm kugeza 1630mm), ikwiriye cyane guterana, kubumba inshinge, kugenzura nibindi bikorwa. Usibye urumuri rwibikoresho birindwi bya robot, Yaskawa yanasohoye sisitemu ndwi yo gusudira ya robo. Urwego rwo hejuru rwubwisanzure rushobora kugumana igihagararo gikwiye hashoboka kugirango ugere ku ngaruka nziza yo gusudira, cyane cyane ibereye gusudira imbere kandi igere ku mwanya mwiza wo kwegera. Byongeye kandi, ibicuruzwa birashobora kugira imiterere-yubucucike bukabije, byoroshye kwirinda kwivanga hagati yacyo nigiti nakazi, kandi bikerekana imikorere yacyo yo kwirinda inzitizi. -Ubwenge bwinshi, niko Presto mr20 Nko mu mpera zumwaka wa 2007, Na bueryue yateje imbere impamyabumenyi irindwi yubwisanzure "Presto mr20". Mugukoresha igishushanyo cya karindwi, robot irashobora gukora akazi katoroshye kandi ikagenda ahantu hafunganye nkamaboko yumuntu. Mubyongeyeho, Imbere yimashini Imbere ya torque ya (ukuboko) irikubye kabiri iyambere ya robot esheshatu gakondo. Umuyoboro wibikoresho bisanzwe ni 20kg. Mugushiraho urwego rwibikorwa, irashobora gutwara 30kg yingingo, urwego rwakazi ni 1260mm, naho imyanya isubirwamo ni 0.1mm. Mugukoresha imiterere irindwi ya axis, mr20 irashobora gukora uhereye kuruhande rwigikoresho cyimashini mugihe ufata no gushyira ibihangano kumashini. Muri ubu buryo, Itezimbere imikorere yo gutegura no kuyitunganya mbere. Umwanya uri hagati yimashini zirashobora kugabanuka kugeza munsi ya kimwe cya kabiri cyimashini itandatu ya robot. Byongeye kandi, nazhibueryue yasohoye kandi robot ebyiri zinganda, mr35 (zifite umutwaro wa 35kg) na mr50 (zifite umutwaro wa 50kg), zishobora gukoreshwa ahantu hafunganye hamwe n’inzitizi. -OTC irindwi ya robot yinganda Odish yo mumatsinda ya daihen mubuyapani yashyize ahagaragara robot zirindwi ziheruka (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls na fd-v20s). Bitewe no kuzenguruka umurongo wa karindwi, barashobora kubona igikorwa kimwe cyo kugoreka nkintoki zabantu no gusudira mugihe kirenze icyumweru; hiyongereyeho, robot zirindwi za axis ni abantu (fd-b4s, fd-b4ls) umugozi wo gusudira uhishe mumubiri wa robo, kubwibyo rero nta mpamvu yo kwitondera kwivanga hagati ya robo, ibikoresho byo gusudira hamwe nakazi kakozwe mugihe cya ibikorwa byo kwigisha. Igikorwa kiroroshye cyane, kandi urwego rwubwisanzure bwo gusudira ruhagaze rwarushijeho kunozwa, rushobora kuzuza inenge robot gakondo idashobora kwinjira mu gusudira kubera kwivanga mubikorwa cyangwa gusudira. -Baxter na Sawyer wo kongera gutekereza kuri Robo Rethink robotics nintangarugero ya robo ya koperative. Muri byo, robot ya kabiri ya Baxter yakozwe bwa mbere, ifite dogere zirindwi zubwisanzure kumaboko yombi, kandi intera nini yo gukora yukuboko kumwe ni 1210mm. Baxter irashobora gutunganya imirimo ibiri itandukanye icyarimwe kugirango yongere ibisabwa, cyangwa itunganyirize umurimo umwe mugihe nyacyo kugirango yongere umusaruro. Sawyer, yatangijwe umwaka ushize, ni ukuboko kumwe robot irindwi axis. Ihuriro ryayo ryoroshye rikoresha urukurikirane rumwe rwa elastique, ariko rukoreshwa mu ngingo zarwo rwarahinduwe kugirango rube ruto. Kuberako igishushanyo mbonera cya karindwi cyemewe kandi urwego rwakazi rugera kuri 100mm, rushobora kurangiza umurimo wakazi hamwe nuburemere bunini, kandi umutwaro urashobora kugera kuri 4kg, ukaba munini cyane kuruta 2.2 kg yishyurwa rya robot ya Baxter. -Yamaha irindwi axis robot Urukurikirane Muri 2015, Yamaha yashyize ahagaragara robot eshatu zirindwi "ya-u5f", "ya-u10f" na "ya-u20f", ziyobowe kandi zigenzurwa n’umugenzuzi mushya "ya-c100". Imashini ya 7-axis ifite e-axis ihwanye ninkokora yumuntu, bityo irashobora kurangiza kubuntu kubusa, torsion, kwaguka nibindi bikorwa. Ndetse no mu cyuho gito aho bigoye ko robot ikora igikorwa munsi yamashoka 6, imikorere nogushiraho birashobora kurangira neza. Mubyongeyeho, irashobora kandi kumenya imyanya yo hasi ya squat hamwe nigikorwa cyo kuzenguruka inyuma yigikoresho. Imashini ifite imiterere yubusa iremewe, kandi umugozi wibikoresho hamwe na hose ya air byubatswe mukuboko kwa mashini, bitazabangamira ibikoresho bikikije kandi birashobora kubona umurongo uhingura.