Kev tsim qauv zoo tshaj plaws ntawm Hexapod mechanism tsis muaj mob stroke hloov pauv pob khaus heev_talls

Tsis zoo siv:

Cov kev ua tau zoo ntawm loj-mob stroke hloov pob khawm hexapod hingies muaj kev ua tau zoo khawm. Ib qho mob stroke loj dua nyob rau hauv cov pob khaus hloov tau nyob hauv qis dua-ax tiffness, yog li txo cov tag nrho ruaj khov, txhav, thiab qhov tseeb ntawm tus txheej txheem. Daim ntawv no tham txog kev sib txuas ntawm cov hexemet mechanism, suav nrog kev nthuav dav thiab kev sib txuas lus ntev ntawm txhua lub pob zeb thiab kev sib hloov ceg ntawm txhua pob khawm. Raws li qhov no, cov kev ntsuas ntawm hexapod mechanism nrog lub pob tawb yooj yim dua los txo cov kev xav tau ntawm cov kab mob stroke thaum lub rooj sib ntsib ntawm cov chaw txav chaw ntawm lub chaw txav chaw.

Kev siv kho qhov muag yog qhov siv dav dav nyob rau hauv ntau cov teb ultrasonic engineering cov liaj teb xws li tsim kho qhov muag, thiab kev tshawb nrhiav qhov chaw. Txhawm rau kom ntseeg tau qhov tseeb ntawm txoj kev kho kho kom zoo, qhov chaw ua kom haum rau cov tshuab yuav tsum muaj rau cov khoom kho kho. Qhov kev tso cai ua kom qhov tseeb uas yuav tsum tau ua ntawm cov daim iav sub-aperture ntawm loj-aperture qhov chaw telescopes, xws li qhov chaw kheej kheej kho qhov muag tsom iav (chaw), yog qhov siab heev. Tsoos ncig ua ke Robots nrog cov khub kinematic khub, xws li pob qij txha pob thiab cov pob qij txha thoob ntiaj teb, yog siv rau kev ua haujlwm zoo ntawm cov khoom siv kho qhov muag. Txawm li cas los xij, cov txheej txheem no tuaj yeem ua rau poob ntawm qhov tseeb. Yuav kom kov yeej qhov no, ib hom tshiab ntawm cov neeg siv tsheb sib txuas nrog cov pob khawm hloov tau raws li Kinematic ua tau tsim. Saj zawg zog hinges muaj cov txiaj ntsig xws li cov qauv yooj yim, tsis muaj kev sib txhuam, thiab qhov ntsuas siab, ua rau muaj cov kev sib raug zoo thiab muaj tseeb. Txawm li cas los xij, tso cai txhua yam hloov tau yooj yim sib txuas uas muaj qhov chaw ua haujlwm tsawg tsawg, feem ntau hauv cubic micron qib. Txhawm rau ua kom tiav kev mob stroke loj dua, ob-theem kinematic me ntsis feem ntau siv, uas nce kev nce qib thiab tus nqi. Txhawm rau hais txog qhov no, cov kws tshawb nrhiav tau tsim kho kom haum rau cov neeg hlau uas muaj sib luag nrog cov hlab ntsha loj. Daim ntawv no tsom rau kev tsim kho kom zoo ntawm kev tsim ntawm lub loj-mob stroke hloov pob khawm hexapod rau kev ua haujlwm zoo ntawm cov khoom siv kho qhov muag.

Kinematics Inverse Kev daws:

Lub cev pseudo-rigid lub cev qauv ntawm qhov hloov tau pob khawm hexapod yog tsim, thiab cov pob khawm hloov tau zoo nrog kev sib koom ua ke nrog kev sib hloov. Kev tshuaj Khwv Kinemat kuj cuam tshuam txog kev nthuav dav thiab kev sib txuas lus ntev ntawm txhua lub ceg saw thiab kev sib hloov lub pob zeb. Txoj kev sib hloov matrix ntawm txhua ceg saw yog xam, thiab kev sib hloov cov ces kaum ntawm cov pob khawm hloov tau yooj yim. Nrog rau cov kev paub sib hloov, cov kev sib hloov zuag qhia tag nrho ntawm txhua lub ceg saw yog xam. Txoj kev sib hloov cov ces kaum ntawm txhua txoj kev sib koom ua ke rau qhov chaw thawj zaug tuaj yeem txiav txim siab. Cov lus taw qhia kev sib koom tes lossis cov ces kaum tau tuaj yeem muab los ntawm rho cov haujlwm thawj zaug lossis cov xeeb ceem los ntawm cov tau txais txiaj ntsig.

Hexapod parameter optimization:

Cov qauv tsim nyog ntawm Hexapod mechanism cov qauv ua kom tsawg tshaj plaws deformation ntawm cov hinges sajagle hloov tau thaum sib tham. Cov qauv tsim muaj xws li lub vojvoog ntawm cov voj voog txuas cov voj voog sib txuas thiab txav platform, qhov siab ntawm lub tsau thiab txav platform thiab txav platform, thiab cov ces kaum. Tus txheej txheem txhim kho kom pom qhov ntau tshaj plaws kev sib hloov lub thiab txav ntawm cov pob khawm hloov tau rau sib txawv. Qhov hnyav-suav ntawm cov txiaj ntsig siab tshaj plaws yog suav, thiab cov platform tsis tau ua rau qhov hnyav me me-suav yog qhov zoo tshaj plaws. Cov qauv tsim no tuaj yeem raug faib ua peb pawg raws li qhov hnyav uas tau muab rau cov