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Manomwe axis indasitiri robhoti vs matanhatu axis maindasitiri robhoti, simba nderei?
2023-12-08
Mumakore achangopfuura, hofori dzemarobhoti emarudzi akawanda dzakaparura marobhoti manomwe eaxis eindasitiri kuti atore musika mutsva wepamusoro, izvo zvakakonzera kufunga kwedu kwakadzama pane manomwe axis industrial robhoti. Ndeapi mabhenefiti ayo akasiyana ehunyanzvi, kutsvagisa nekusimudzira matambudziko, uye ndeapi maindasitiri manomwe axis marobhoti zvigadzirwa zvakaburitswa pasi rose mumakore achangopfuura? Robhoti remuindasitiri rinofanira kuve nematemo mangani?
Parizvino, marobhoti eindasitiri ave achishandiswa zvakanyanya mumativi ese ehupenyu, asi takaonawo kuti mabhobhoti eindasitiri haana maumbirwo akasiyana chete, asiwo ane nhamba dzakasiyana dzematemo. Iyo inonzi axis yeindasitiri robhoti inogona kutsanangurwa nehunyanzvi term degree yerusununguko. Kana robhoti riine madhigirii matatu erusununguko, rinogona kufamba rakasununguka richitevedza X, y uye Z, asi harigone kurereka kana kutenderera. Kana huwandu hwemasanhu erobhoti huchiwedzera, inowedzera kuchinjika kune robhoti. Marobhoti emaindasitiri anofanira kuve nematemo mangani? Robhoti matatu axis inonziwo Cartesian coordinate kana Cartesian robhoti. Matemo ayo matatu anogona kubvumira robhoti kufamba nematemo matatu. Rudzi urwu rwerobhoti runowanzo shandiswa mune nyore kubata basa. 
Robhoti mana axis anogona kutenderera achitevedza X, y uye Z axes. Yakasiyana kubva kune matatu-axis robhoti, ine yakazvimirira yechina axis. Kazhinji kutaura, robhoti yeSCRA inogona kutorwa semarobhoti mana axis. Axis mashanu ndiko kumisikidzwa kwemarobhoti mazhinji eindasitiri. Aya marobhoti anogona kutenderera kuburikidza nematatu emuchadenga kutenderera kweX, y uye Z. panguva imwe chete, anogona kutendeuka nekuvimba neaxis pachigadziko uye axis ine flexible kutenderera kweruoko, izvo zvinowedzera kuchinjika kwavo. Iwo matanhatu axis robhoti anogona kupfuura nepakati X, y uye Z axes, uye imwe neimwe axis inogona kutenderera yakazvimiririra. Musiyano mukuru kubva kune mashanu axis robhoti ndewekuti kune imwezve axis inogona kutenderera yakasununguka. Mumiriri weiyo nhanhatu axis robhoti ndeye youao robhoti. Kuburikidza nekavha yebhuruu parobhoti, unogona kunyatsoverenga nhamba yemasanhu erobhoti. Seven axis robhoti, inozivikanwawo seredundant robhoti, kana ichienzaniswa neakisi axis robhoti, iyo axis yekuwedzera inobvumira iro robhoti kudzivirira zvimwe zvinangwa, kufambisa iyo yekupedzisira effector kusvika kune yakatarwa chinzvimbo, uye inogona kuchinjika kuchinjika kune imwe yakakosha nharaunda yekushanda. Nekuwedzera kwehuwandu hwematemo, kushanduka kwerobhoti kunowedzerawo. Nekudaro, mune zvazvino maindasitiri ekushandisa, matatu-axis, mana-axis uye matanhatu axis maindasitiri marobhoti anoshandiswa zvakanyanya. Izvi zvinodaro nekuti mune mamwe maapplication, yakakwirira kuchinjika haidiwi, matatu-axis uye mana-axis marobhoti ane yakakwira mutengo-inoshanda, uye matatu-axis uye mana-axis marobhoti anewo zvakanakira kukurumidza. Mune ramangwana, muindasitiri ye3C inoda kuchinjika kwakakwira, iro nomwe axis indasitiri robhoti ichava nenzvimbo yekutamba. Nekuwedzera kwayo kurongeka, ichatsiva gungano remanyorero ezvigadzirwa zvemagetsi zvakaita senharembozha munguva pfupi iri kutevera. Chii chakanakira nomwe axis indasitiri robhoti pamusoro matanhatu axis indasitiri robhoti? Nehunyanzvi, ndeapi matambudziko ane matanhatu axis maindasitiri marobhoti uye ndeapi masimba emarobhoti manomwe axis maindasitiri? (1) Kuvandudza kinematic maitiro Mune kinematics yerobhoti, matambudziko matatu anoita kuti kufamba kwerobhoti kuve kushoma. Yokutanga ndiyo imwe chete configuration. Kana iro robhoti riri mune imwe chete gadziriso, magumo ekupedzisira haakwanise kufamba mune imwe nzira kana kushandisa torque, saka iyo imwe chete gadziriso inokanganisa zvakanyanya kuronga kwekufamba. Yechitanhatu axis uye yechina axis yerobhoti nhanhatu axis icollinear Yechipiri ijoint displacement overrun. Mumamiriro ezvinhu chaiwo ekushanda, kona yekona yega yega yejobhoti inogumira. Iyo yakanaka mamiriro ndeyekuwedzera kana minus 180 madhigirii, asi majoini mazhinji haakwanise kuzviita. Pamusoro pezvo, iro nomwe axis robhoti inogona kudzivirira yakakurumidza angular velocity kufamba uye kuita kuti angular velocity kugovera kuve yunifomu. Motion renji uye yakakwira angular velocity yeaxis yega yega Xinsong manomwe axis robhoti Chechitatu, pane zvipingamupinyi munzvimbo yekushanda. Munzvimbo yeindasitiri, pane zvipingamupinyi zvakasiyana-siyana zvezvakatipoteredza muzviitiko zvakawanda. Iyo yechinyakare nhanhatu axis robhoti haigone kungochinja maitiro ekupedzisira meshini pasina kushandura chinzvimbo chekupedzisira meshini. (2) Kuvandudza maitiro ane simba Kune nomwe axis robhoti, kushandisa ayo dundant madhigirii erusununguko haingogone kuwana yakanaka kinematic hunhu kuburikidza netrajectory kuronga, asi zvakare kushandisa chimiro chayo kuti iwane yakanakisa dynamic performance. Iyo nomwe axis robhoti inogona kuona kugovaniswa kwejoint torque, iyo inosanganisira dambudziko reiyo static balance yerobhoti, ndiko kuti, simba rinoshanda pamagumo rinogona kuverengerwa neimwe algorithm. Kune echinyakare nhanhatu axis robhoti, simba rejoini rega rega rine chokwadi, uye kugovera kwaro kungave kusinganzwisisike. Zvisinei, kune nomwe axis robhoti, tinogona kugadzirisa torque yejoini imwe neimwe kuburikidza nekutonga algorithm kuita torque inotakurwa neiyo isina simba link sediki sezvinobvira, kuitira kuti torque kugoverwa kwerobhoti rese ive yunifomu uye inonzwisisika. (3) Kushivirira kukanganisa Muchiitiko chekukundikana, kana chibatanidza chimwe chikakundikana, iyo yechinyakare matanhatu axis robhoti haigone kuramba ichipedzisa basa, nepo nomwe axis robhoti inogona kuramba ichishanda zvakajairika nekugadzirisazve kugoverwa kwekumhanya kwejoint rakakundikana (kinematic fault tolerance) uye torque yejoint rakakundikana (dynamic fault tolerance). 
Ruoko rumwe norumwe rweYumi rune madhigirii manomwe erusununguko uye huremu hwemuviri 38 kg. Kuremerwa kweruoko rumwe nerumwe 0.5kg, uye iyo yakadzokororwa yekumisikidza kurongeka inogona kusvika 0.02mm. Nokudaro, inonyanya kukodzera kuungana kwezvikamu zviduku, zvinhu zvevatengi, matoyi nemimwe minda. Kubva pamativi chaiwo emawachi emuchina kusvika pakugadzirisa nharembozha, mahwendefa emakombuta uye zvikamu zvekombuta, Yumi harisi dambudziko, rinoratidza hunhu hwerobhoti isingaite, sekuwedzera nzvimbo inosvikika yekushanda, kuchinjika, kugona uye kurongeka. -Yaskawa Motoman SIA YASKAWA yemagetsi, inonyatsozivikanwa kugadzira marobhoti muJapan uye imwe ye "mhuri ina", yakaburitsawo huwandu hwezvinomwe axis robhoti zvigadzirwa. SIA akatevedzana marobhoti akareruka agile manomwe axis marobhoti, ayo anogona kupa humanoid kuchinjika uye kumhanyisa nekukurumidza. Iyo yakareruka uye yakakwenenzverwa dhizaini yeiyi nhevedzano yemarobhoti inoita kuti ive yakakodzera kwazvo kuisirwa munzvimbo yakamanikana. SIA yakatevedzana inogona kupa yakakwira mubhadharo (5kg kusvika 50kg) uye yakakura yekushanda siyana (559mm kusvika 1630mm), iyo yakanyatsokodzera kuungana, kuumba jekiseni, kuongorora uye kumwe kuvhiya. Pamusoro pemwenje minomwe axis robhoti zvigadzirwa, Yaskawa akaburitsawo manomwe axis robhoti welding system. Yayo yakakwirira dhigirii yerusununguko inogona kuchengetedza yakanyanya kurongeka inogoneka sezvinobvira kuti iwane yakakwirira-yemhando welding effect, kunyanya yakakodzera mukati memukati welding welding uye kuwana yakanakisa nzira yekumira. Uyezve, chigadzirwa chacho chinogona kuva nechepamusoro-density dhizaini, kudzivirira nyore kupindira pakati payo uye shaft uye workpiece, uye kuratidza kwayo yakanakisa chipingamupinyi chekudzivirira basa. -Kunyanya kungwara, kunowedzera Presto mr20 Pakupera kwa2007, Na bueryue akagadzira madhigirii manomwe erusununguko robhoti "Presto mr20". Nekutora dhizaini yeakisi nomwe, robhoti rinogona kuita zvakanyanya kuoma basa uye kufamba munzvimbo yakamanikana yekushanda seruoko rwemunhu. Pamusoro pezvo, Robot kumberi kumagumo Iyo torque ye (wrist) ingangoita zvakapetwa kaviri iyo yekutanga yechinyakare nhanhatu axis robhoti. Iyo torque yeyakajairwa gadziriso ndeye 20kg. Nekumisikidza danho rekuita, rinogona kutakura kusvika ku30kg yezvinyorwa, iyo yekushanda iri 1260mm, uye inodzokororwa yekumisikidza kururama i0.1mm. Nekutora iyo nomwe axis chimiro, mr20 inogona kushanda kubva kudivi remuchina chishandiso kana uchitora nekuisa maworkpiece pamushini wemuchina. Nenzira iyi, Inovandudza kushanda kwekugadzirira nekugadzirisa mberi. Iyo nzvimbo iri pakati pematurusi emuchina inogona kudzikiswa kusvika isingasviki hafu yemarobhoti echinyakare axis. 
Mukuwedzera, nazhibueryue yakaburitsawo marobhoti maviri eindasitiri, mr35 (ine mutoro we35kg) uye mr50 (ine mutoro we50kg), inogona kushandiswa munzvimbo dzakamanikana nenzvimbo dzine zvipingamupinyi. -OTC nomwe axis indasitiri robhoti Odish weboka redaihen muJapan akatangisa marobhoti manomwe azvino axis (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls uye fd-v20s). Nekuda kwekutenderera kweakisi yechinomwe, vanogona kuona kumonyoroka kwakafanana kwemaoko emunhu uye welding kweinopfuura vhiki imwe; uyezve, manomwe axis marobhoti ndeyevanhu (fd-b4s, fd-b4ls) iyo welding tambo yakavanzwa mumuviri werobhoti, saka hapana chikonzero chekuteerera kupindirana pakati perobhoti, welding fixture uye workpiece panguva yebasa. kudzidzisa kushanda. Chiito chacho chakanyanya kutsetseka, uye dhigirii yerusununguko rwekushongedza chimiro yakagadziridzwa, iyo inogona kugadzirisa iyo kuremara iyo yechinyakare robhoti haigone kupinda muwelding nekuda kwekuvhiringidzwa neworkpiece kana welding fixture. -Baxter naSawyer we fungazve Robotics Rethink robotics ndiye piyona wemarobhoti anoshanda. Pakati pavo, Baxter dual arm robhoti, iyo yakatanga kugadzirwa, ine madhigirii manomwe erusununguko pamaoko ese, uye huwandu hwekushanda hweruoko rumwe 1210mm. Baxter anogona kugadzirisa mabasa maviri akasiyana panguva imwe chete kuti awedzere kushanda, kana kugadzirisa basa rimwe chete munguva chaiyo kuti awedzere kuburitsa. Sawyer, yakatangwa gore rapfuura, irobhoti rimwechete ruoko nomwe axis robhoti. Majoini ayo anochinjika anoshandisa imwechete yakatevedzana elastic actuator, asi iyo actuator inoshandiswa mumajoini ayo yakagadziridzwa patsva kuti iite diki. Nemhaka yekuti dhizaini yeakisi manomwe inogamuchirwa uye huwandu hwekushanda hunowedzerwa kusvika ku100mm, inogona kupedza basa rebasa nemutoro wakakura, uye mutoro unogona kusvika 4kg, iyo yakakura kudarika 2.2kg payload yeBaxter robot. -Yamaha nomwe axis robhoti Ya akatevedzana Muna 2015, Yamaha yakatanga matatu manomwe axis marobhoti "ya-u5f", "ya-u10f" uye "ya-u20f", ayo anotyairwa uye anodzorwa nemutongi mutsva "ya-c100". Iyo 7-axis robhoti ine e-axis yakaenzana negokora remunhu, saka inogona kupedzisa kukotama, torsion, kuwedzera uye zvimwe zviito zvakasununguka. Kunyangwe mumukana wakamanikana umo zvakaoma kuti robhoti iite oparesheni iri pazasi 6 axes, kushanda uye kuseta kunogona kupedzwa zvakanaka. Uye zvakare, inogona zvakare kuona iyo yakaderera squat chinzvimbo uye chiitiko chekutenderera kuseri kwechishandiso. Iyo actuator ine hollow chimiro inotambirwa, uye tambo yemudziyo nemhepo hose zvakavakwa muruwoko rwemuchina, izvo zvisingakanganise michina yakatenderedza uye inogona kuona tambo yekugadzira compact.
Robhoti mana axis anogona kutenderera achitevedza X, y uye Z axes. Yakasiyana kubva kune matatu-axis robhoti, ine yakazvimirira yechina axis. Kazhinji kutaura, robhoti yeSCRA inogona kutorwa semarobhoti mana axis. Axis mashanu ndiko kumisikidzwa kwemarobhoti mazhinji eindasitiri. Aya marobhoti anogona kutenderera kuburikidza nematatu emuchadenga kutenderera kweX, y uye Z. panguva imwe chete, anogona kutendeuka nekuvimba neaxis pachigadziko uye axis ine flexible kutenderera kweruoko, izvo zvinowedzera kuchinjika kwavo. Iwo matanhatu axis robhoti anogona kupfuura nepakati X, y uye Z axes, uye imwe neimwe axis inogona kutenderera yakazvimiririra. Musiyano mukuru kubva kune mashanu axis robhoti ndewekuti kune imwezve axis inogona kutenderera yakasununguka. Mumiriri weiyo nhanhatu axis robhoti ndeye youao robhoti. Kuburikidza nekavha yebhuruu parobhoti, unogona kunyatsoverenga nhamba yemasanhu erobhoti. Seven axis robhoti, inozivikanwawo seredundant robhoti, kana ichienzaniswa neakisi axis robhoti, iyo axis yekuwedzera inobvumira iro robhoti kudzivirira zvimwe zvinangwa, kufambisa iyo yekupedzisira effector kusvika kune yakatarwa chinzvimbo, uye inogona kuchinjika kuchinjika kune imwe yakakosha nharaunda yekushanda. Nekuwedzera kwehuwandu hwematemo, kushanduka kwerobhoti kunowedzerawo. Nekudaro, mune zvazvino maindasitiri ekushandisa, matatu-axis, mana-axis uye matanhatu axis maindasitiri marobhoti anoshandiswa zvakanyanya. Izvi zvinodaro nekuti mune mamwe maapplication, yakakwirira kuchinjika haidiwi, matatu-axis uye mana-axis marobhoti ane yakakwira mutengo-inoshanda, uye matatu-axis uye mana-axis marobhoti anewo zvakanakira kukurumidza. Mune ramangwana, muindasitiri ye3C inoda kuchinjika kwakakwira, iro nomwe axis indasitiri robhoti ichava nenzvimbo yekutamba. Nekuwedzera kwayo kurongeka, ichatsiva gungano remanyorero ezvigadzirwa zvemagetsi zvakaita senharembozha munguva pfupi iri kutevera. Chii chakanakira nomwe axis indasitiri robhoti pamusoro matanhatu axis indasitiri robhoti? Nehunyanzvi, ndeapi matambudziko ane matanhatu axis maindasitiri marobhoti uye ndeapi masimba emarobhoti manomwe axis maindasitiri? (1) Kuvandudza kinematic maitiro Mune kinematics yerobhoti, matambudziko matatu anoita kuti kufamba kwerobhoti kuve kushoma. Yokutanga ndiyo imwe chete configuration. Kana iro robhoti riri mune imwe chete gadziriso, magumo ekupedzisira haakwanise kufamba mune imwe nzira kana kushandisa torque, saka iyo imwe chete gadziriso inokanganisa zvakanyanya kuronga kwekufamba. Yechitanhatu axis uye yechina axis yerobhoti nhanhatu axis icollinear Yechipiri ijoint displacement overrun. Mumamiriro ezvinhu chaiwo ekushanda, kona yekona yega yega yejobhoti inogumira. Iyo yakanaka mamiriro ndeyekuwedzera kana minus 180 madhigirii, asi majoini mazhinji haakwanise kuzviita. Pamusoro pezvo, iro nomwe axis robhoti inogona kudzivirira yakakurumidza angular velocity kufamba uye kuita kuti angular velocity kugovera kuve yunifomu. Motion renji uye yakakwira angular velocity yeaxis yega yega Xinsong manomwe axis robhoti Chechitatu, pane zvipingamupinyi munzvimbo yekushanda. Munzvimbo yeindasitiri, pane zvipingamupinyi zvakasiyana-siyana zvezvakatipoteredza muzviitiko zvakawanda. Iyo yechinyakare nhanhatu axis robhoti haigone kungochinja maitiro ekupedzisira meshini pasina kushandura chinzvimbo chekupedzisira meshini. (2) Kuvandudza maitiro ane simba Kune nomwe axis robhoti, kushandisa ayo dundant madhigirii erusununguko haingogone kuwana yakanaka kinematic hunhu kuburikidza netrajectory kuronga, asi zvakare kushandisa chimiro chayo kuti iwane yakanakisa dynamic performance. Iyo nomwe axis robhoti inogona kuona kugovaniswa kwejoint torque, iyo inosanganisira dambudziko reiyo static balance yerobhoti, ndiko kuti, simba rinoshanda pamagumo rinogona kuverengerwa neimwe algorithm. Kune echinyakare nhanhatu axis robhoti, simba rejoini rega rega rine chokwadi, uye kugovera kwaro kungave kusinganzwisisike. Zvisinei, kune nomwe axis robhoti, tinogona kugadzirisa torque yejoini imwe neimwe kuburikidza nekutonga algorithm kuita torque inotakurwa neiyo isina simba link sediki sezvinobvira, kuitira kuti torque kugoverwa kwerobhoti rese ive yunifomu uye inonzwisisika. (3) Kushivirira kukanganisa Muchiitiko chekukundikana, kana chibatanidza chimwe chikakundikana, iyo yechinyakare matanhatu axis robhoti haigone kuramba ichipedzisa basa, nepo nomwe axis robhoti inogona kuramba ichishanda zvakajairika nekugadzirisazve kugoverwa kwekumhanya kwejoint rakakundikana (kinematic fault tolerance) uye torque yejoint rakakundikana (dynamic fault tolerance). Zvinomwe axis maindasitiri marobhoti zvigadzirwa zvehofori dzepasirese
Zvingave kubva pakuona kwechigadzirwa kana kubva pakuona kwekushandisa, iyo nomwe axis indasitiri robhoti ichiri mudanho rekutanga rekusimudzira, asi vagadziri vakuru vakasundira zvigadzirwa zvakakosha mukuratidzira kukuru. Zvinogona kufungidzirwa kuti vane tarisiro huru pamusoro pekugona kwayo budiriro yeramangwana. -KUKA LBR iiwa Muna Mbudzi 2014, KUKA yakatanga kuburitsa KUKA yekutanga 7-DOF light sensitive robhoti lbriiwa pakuratidzira kwemarobhoti eChina International Industry Expo. Lbriiwa nomwe axis robhoti yakagadzirwa zvichibva paruoko rwemunhu. Yakasanganiswa neyakasanganiswa sensor system, iro robhoti mwenje ine programmable senitivity uye yakanyanya kunaka. Matemo ese eaya manomwe axis lbriiwa akashongedzerwa nepamusoro-kuita kudhumhana kwekuona basa uye yakasanganiswa yejoin torque sensor kuti ione mushandirapamwe wemurume. Iyo 7 axis dhizaini inoita kuti chigadzirwa cheKUKA chive nekuchinjika kwepamusoro uye chinogona kuyambuka zvipingamupinyi zviri nyore. Chimiro cheLbriiwa robhoti chakagadzirwa nealuminium, uye uremu hwayo hunongova 23.9 kg. Kune marudzi maviri emitoro, 7 kg uye 14 kg maererano, zvichiita kuti ive yekutanga robhoti ine mutoro unodarika 10 kg. - ABB YuMi Musi waKubvumbi 13, 2015, abb akatangisa zviri pamutemo robhoti rekutanga repasi rese remaoko Yumi iro rinonyatsoona kubatana kwemuchina wevanhu kumusika paIndustrial Expo muHanover, Germany. Ruoko rumwe norumwe rweYumi rune madhigirii manomwe erusununguko uye huremu hwemuviri 38 kg. Kuremerwa kweruoko rumwe nerumwe 0.5kg, uye iyo yakadzokororwa yekumisikidza kurongeka inogona kusvika 0.02mm. Nokudaro, inonyanya kukodzera kuungana kwezvikamu zviduku, zvinhu zvevatengi, matoyi nemimwe minda. Kubva pamativi chaiwo emawachi emuchina kusvika pakugadzirisa nharembozha, mahwendefa emakombuta uye zvikamu zvekombuta, Yumi harisi dambudziko, rinoratidza hunhu hwerobhoti isingaite, sekuwedzera nzvimbo inosvikika yekushanda, kuchinjika, kugona uye kurongeka. -Yaskawa Motoman SIA YASKAWA yemagetsi, inonyatsozivikanwa kugadzira marobhoti muJapan uye imwe ye "mhuri ina", yakaburitsawo huwandu hwezvinomwe axis robhoti zvigadzirwa. SIA akatevedzana marobhoti akareruka agile manomwe axis marobhoti, ayo anogona kupa humanoid kuchinjika uye kumhanyisa nekukurumidza. Iyo yakareruka uye yakakwenenzverwa dhizaini yeiyi nhevedzano yemarobhoti inoita kuti ive yakakodzera kwazvo kuisirwa munzvimbo yakamanikana. SIA yakatevedzana inogona kupa yakakwira mubhadharo (5kg kusvika 50kg) uye yakakura yekushanda siyana (559mm kusvika 1630mm), iyo yakanyatsokodzera kuungana, kuumba jekiseni, kuongorora uye kumwe kuvhiya. Pamusoro pemwenje minomwe axis robhoti zvigadzirwa, Yaskawa akaburitsawo manomwe axis robhoti welding system. Yayo yakakwirira dhigirii yerusununguko inogona kuchengetedza yakanyanya kurongeka inogoneka sezvinobvira kuti iwane yakakwirira-yemhando welding effect, kunyanya yakakodzera mukati memukati welding welding uye kuwana yakanakisa nzira yekumira. Uyezve, chigadzirwa chacho chinogona kuva nechepamusoro-density dhizaini, kudzivirira nyore kupindira pakati payo uye shaft uye workpiece, uye kuratidza kwayo yakanakisa chipingamupinyi chekudzivirira basa. -Kunyanya kungwara, kunowedzera Presto mr20 Pakupera kwa2007, Na bueryue akagadzira madhigirii manomwe erusununguko robhoti "Presto mr20". Nekutora dhizaini yeakisi nomwe, robhoti rinogona kuita zvakanyanya kuoma basa uye kufamba munzvimbo yakamanikana yekushanda seruoko rwemunhu. Pamusoro pezvo, Robot kumberi kumagumo Iyo torque ye (wrist) ingangoita zvakapetwa kaviri iyo yekutanga yechinyakare nhanhatu axis robhoti. Iyo torque yeyakajairwa gadziriso ndeye 20kg. Nekumisikidza danho rekuita, rinogona kutakura kusvika ku30kg yezvinyorwa, iyo yekushanda iri 1260mm, uye inodzokororwa yekumisikidza kururama i0.1mm. Nekutora iyo nomwe axis chimiro, mr20 inogona kushanda kubva kudivi remuchina chishandiso kana uchitora nekuisa maworkpiece pamushini wemuchina. Nenzira iyi, Inovandudza kushanda kwekugadzirira nekugadzirisa mberi. Iyo nzvimbo iri pakati pematurusi emuchina inogona kudzikiswa kusvika isingasviki hafu yemarobhoti echinyakare axis. Mukuwedzera, nazhibueryue yakaburitsawo marobhoti maviri eindasitiri, mr35 (ine mutoro we35kg) uye mr50 (ine mutoro we50kg), inogona kushandiswa munzvimbo dzakamanikana nenzvimbo dzine zvipingamupinyi. -OTC nomwe axis indasitiri robhoti Odish weboka redaihen muJapan akatangisa marobhoti manomwe azvino axis (fd-b4s, fd-b4ls, fd-v6s, fd-v6ls uye fd-v20s). Nekuda kwekutenderera kweakisi yechinomwe, vanogona kuona kumonyoroka kwakafanana kwemaoko emunhu uye welding kweinopfuura vhiki imwe; uyezve, manomwe axis marobhoti ndeyevanhu (fd-b4s, fd-b4ls) iyo welding tambo yakavanzwa mumuviri werobhoti, saka hapana chikonzero chekuteerera kupindirana pakati perobhoti, welding fixture uye workpiece panguva yebasa. kudzidzisa kushanda. Chiito chacho chakanyanya kutsetseka, uye dhigirii yerusununguko rwekushongedza chimiro yakagadziridzwa, iyo inogona kugadzirisa iyo kuremara iyo yechinyakare robhoti haigone kupinda muwelding nekuda kwekuvhiringidzwa neworkpiece kana welding fixture. -Baxter naSawyer we fungazve Robotics Rethink robotics ndiye piyona wemarobhoti anoshanda. Pakati pavo, Baxter dual arm robhoti, iyo yakatanga kugadzirwa, ine madhigirii manomwe erusununguko pamaoko ese, uye huwandu hwekushanda hweruoko rumwe 1210mm. Baxter anogona kugadzirisa mabasa maviri akasiyana panguva imwe chete kuti awedzere kushanda, kana kugadzirisa basa rimwe chete munguva chaiyo kuti awedzere kuburitsa. Sawyer, yakatangwa gore rapfuura, irobhoti rimwechete ruoko nomwe axis robhoti. Majoini ayo anochinjika anoshandisa imwechete yakatevedzana elastic actuator, asi iyo actuator inoshandiswa mumajoini ayo yakagadziridzwa patsva kuti iite diki. Nemhaka yekuti dhizaini yeakisi manomwe inogamuchirwa uye huwandu hwekushanda hunowedzerwa kusvika ku100mm, inogona kupedza basa rebasa nemutoro wakakura, uye mutoro unogona kusvika 4kg, iyo yakakura kudarika 2.2kg payload yeBaxter robot. -Yamaha nomwe axis robhoti Ya akatevedzana Muna 2015, Yamaha yakatanga matatu manomwe axis marobhoti "ya-u5f", "ya-u10f" uye "ya-u20f", ayo anotyairwa uye anodzorwa nemutongi mutsva "ya-c100". Iyo 7-axis robhoti ine e-axis yakaenzana negokora remunhu, saka inogona kupedzisa kukotama, torsion, kuwedzera uye zvimwe zviito zvakasununguka. Kunyangwe mumukana wakamanikana umo zvakaoma kuti robhoti iite oparesheni iri pazasi 6 axes, kushanda uye kuseta kunogona kupedzwa zvakanaka. Uye zvakare, inogona zvakare kuona iyo yakaderera squat chinzvimbo uye chiitiko chekutenderera kuseri kwechishandiso. Iyo actuator ine hollow chimiro inotambirwa, uye tambo yemudziyo nemhepo hose zvakavakwa muruwoko rwemuchina, izvo zvisingakanganise michina yakatenderedza uye inogona kuona tambo yekugadzira compact.