Kev tshawb nrhiav thiab kev txheeb xyuas qhov cuam tshuam ntawm pob khaus thiab cov khoom siv yooj yim ntawm cov ua yeeb yam tsis zoo1

Qhov teeb meem ntawm kev ua kom pom tseeb, tshwm sim los ntawm kev tsim khoom yuam kev thiab kua muag thaum lub sijhawm sib tsoo, tuaj yeem ua rau kev sib tsoo thiab kev sib raug zoo ntawm cov ntu sib txuas. Qhov no nce zuj zus kev nyuaj siab, ua rau muaj kev nyuaj siab, nce ntxiv kev deformation, tsim suab nrov thiab kev co, thiab txo cov khoom siv tshuab hluav taws xob. Ntau tus kws tshawb nrhiav tau kawm txog kev sib tham ntawm kev sib tw nrog pob khawm thiab hloov tau yooj yim, tab sis txuas ntxiv tau ntxiv.

Piv txwv li, Bauxhau al. Npaj ib txwm tshem cov pob khawm sib txawv rau kev piav qhia cov tshuab hluav taws xob muaj ntau-lub cev siv Kinematics. Zhao li al. Sib tham txog cov hlwv ntawm pob khawm qhov loj me ntawm kev ua tau zoo ntawm kev ua tau zoo ntawm qhov chaw series hlau robots. Chen Jiangyi li al. Txheeb xyuas qhov muaj zog ntawm cov tshuab sib piv nrog cov khawm pob khawm nrog pob khawm. Kakizaki li al. Kawm txog lub zog hluav taws xob ntawm chaw seem nrog pob khawm khawm, xav txog qhov hloov ntawm tus pas nrig. Nws Baiyan li al. thov thiab tsim cov qauv ua qauv ntawm cov qauv sib xyaw ntawm cov qauv hloov pauv ntawm pob khawm pob khawm. Cov kev tshawb fawb no muab cov kev pom tau zoo rau hauv kev siv hluav taws xob uas muaj kev sib txuas nrog cov pob khawm thiab hloov tau.

Txhawm rau hais txog qhov teeb meem ntawm kev ua kom meej meej, tus qauv sib txawv ntawm cov tshuab nrog pob khawm sib txawv. Txij li thaum pob zeb nrog cov khoob yuav tsoo thaum lub sij hawm cov lus tsa suab thiab dampinear damping kev sib tiv tauj cov qauv thiab hloov cov qauv ntsuas coullici. Lub Caij Nplooj Hlav Caij nplooj zeeg tsis muaj zog Cov qauv hloov kho cov qauv hloov kho kom meej txog kev sib txhuam los ntawm kev sib txhuam kom zoo nkauj, txiav txim siab coulomomomomic, thiab ua kom khoo kom sib txhuam.

Thaum kev txheeb xyuas cov yam ntxwv sib xyaw ua ke nrog cov pob khawm nrog pob khawm, nws yog ib qho tsim nyog los xav txog qhov hloov ntawm cov khoom siv. Hauv cov software software, cov khoom siv hloov tau siv tau siv peb lub cev, lossis cov software hloov pauv tau ncaj qha, lossis sib txuas ua ke rau cov software uas yog Adams los ua cov khoom siv hloov tau. Qhov thib peb txoj kev xaiv nyob rau hauv txoj kev kawm no vim tias nws tuaj yeem zoo dua ua kom muaj kev cuam tshuam tiag tiag ntawm lub cev hloov tau. Cov tswv yim siv los ua qauv hloov kho cov ntaub ntawv, thiab tsim cov ntaub ntawv tsis sib xws, thiab cov ntaub ntawv nruab nrab uas suav nrog ntau yam tsis sib xws thiab cov ntaub ntawv hais txog tus tswv cuab hloov tau.

Txhawm rau ua kom pom cov kev tsom xam, ib qho 3-rrrt parallel mechanial yog siv los ua cov khoom tshawb fawb. Kev tsom xam pauv tau ua rau cov ceg sib txuas ntawm cov mechanism siv cov txuj ci siv ua cov tswvcuab ua hloov tau yooj yim hauv Adams. Lub tshuab muaj cov pob zeb ruaj ruaj, peb ceg ceg, thiab lub platform txav. Txhua lub ceg saw sib txuas yog tsim ntawm cov pas nrig, tig pob khawm, thiab txav cov khub. Qhov yooj yooj yim ntawm cov pas nrig tau txiav txim siab, hes lwm yam raug kho kom zoo li lub cev nruj. Cov tsav tsheb tau teeb tsa raws li kev tsav tsheb, thiab cov mechanism yog simulated ntawm qis thiab siab ceev.

Kev tsom xam pom tias pob khawm pob khawm tau muaj ib qho tseem ceeb ntawm kev ceev thiab hu rau kev siv hluav taws xob nruj, thaum hloov pauv feem ntau cuam tshuam rau kev ceev thiab nrawm ntawm cov tshuab. Qhov loj dua pob khawm pob khawm, ntau dua qhov loj dua ntawm kev tshaj tawm thiab nrawm hloov. Tsav tsheb nrawm kuj cuam tshuam txog kev ua tau zoo ntawm lub tshuab, nrog cov nrawm dua ua kom tau hloov loj dua thiab muaj kev ruaj khov. Txawm li cas los xij, tsis hais txog qhov cuam tshuam tsis zoo, lub zog tiv thaiv, nrawm, thiab nrawm maj mam mus txog lub xeev khov kho.

Hauv kev xaus, lub zog ntawm parallel mechanisms nrog pob khawm sib dhos thiab yoog tau yog qhov kev txiav txim siab tseem ceeb hauv kev tsim thiab tsim khoom. Qhov yooj yooj yim ntawm cov khoom sib cav sib haum loj yuav tsum tau coj mus rau hauv tus account, thiab pob khawm hle, tsis quav ntsej, tshwj xeeb rau cov tshuab uas ua haujlwm ntawm kev kub ceev. Los ntawm kev nkag siab thiab daws cov xwm txheej no, kev ua haujlwm thiab kev ua haujlwm ntawm cov tshuab siv tshuab tuaj yeem txhim kho.