Mapangidwe oyenera a hexapod magwiridwe a stroke akuluakulu a stroke osinthika_kutsutsidwa_kuti

Chofupikitsa:

Magwiridwe antchito ambiri owononga matenda a Hingis osinthika amadalira kwambiri magwiridwe antchito a Hinge. Chiwopsezo chachikulu mu mphamvu yosinthika yosinthika mu otsika-axis, potero kuchepetsa kukhazikika kokhazikika, kuuma, komanso kulondola kwa kachitidwe. Pepala ili limafotokoza za cholumikizira cha jinematics chofunda cha hexapod, kuphatikiza kukula ndi kutalika kwa nthambi iliyonse ndi ngodya iliyonse ya Hingi. Kutengera izi, magawo a hexaptod yokhala ndi stroko yayikulu kwambiri kuchepetsedwa kuti muchepetse zofunika zonse zomwe zimapangitsa kuti pakhale malo osungirako nsanja yosunthira.

Makina owoneka bwino amagwiritsidwa ntchito kwambiri paminda yamagetsi yosiyanasiyana monga microscopes, secionduc, ndi kufufuza kwa malo. Kuti muwonetsetse kulondola kwa njira yam'maso, makina olondola oyikira amafunikira kwa zowona. Zofunikira zolondola za galasi laling'ono la ma telescopes akuluakulu, monga malo owoneka owoneka bwino owoneka bwino (malo), ndizokwera kwambiri. Maloboti okhala ndi malo okhala ndi ma kinematic awiriawiri, monga kulumikizana kwa mpira ndi mafupa adziko lonse, amagwiritsidwa ntchito poimira zigawo zowoneka bwino. Komabe, njirazi zimatha kuyambitsa kuchepa. Kuti muthane ndi izi, mtundu watsopano wa loboti yofananira yokhala ndi miseche yosinthika ngati ma pinematic awiri adapangidwa. Mitengo yosinthira imapereka zabwino monga kapangidwe kake, osakangano, komanso kuwongolera kwambiri, kumapangitsa machitidwe olondola komanso olondola. Komabe, maloboti osinthika mokwanira ndi malo ocheperako ogwirira ntchito, makamaka mu cubic micron. Kuti mukwaniritse ziwengo zazikulu, zomwe zimagwiritsidwa ntchito kawirikawiri kawiri nthawi zambiri zimagwiritsidwa ntchito, zomwe zimawonjezera dongosolo komanso mtengo. Kuti tithene ndi izi, ofufuza apanga maloboti owoneka bwino ofanana ndi mikwingwirima yayikulu. Pepala ili likuyang'ana pa kapangidwe kake kake kakang'ono ka Hingi yosinthika ya Hingi yosinthika ya Hinge Hexapod imayimitsa zigawo zam'maso.

Makonda a Kinematics:

Chizindikiro cha Pseudo-cholimba cha Hinge Hexe Hexe Hexe adakhazikitsidwa, ndipo Hinge yosinthika imaganiziridwa kuti ndi yolumikizana ndi kuuma kozungulira. Vuto la Kinematics limaphatikizapo kudziwa kukula ndi kutalika kwa nthambi iliyonse yanthambi ndi njira yosinthira ya Hingi iliyonse. Kusintha kwa matrix a nthambi iliyonse nthambi imawerengeredwa, ndipo kuzungulira kwa mitsempha ya madzi osinthika kumapezeka. Ndi matrict odziwika ojambula, matrix ozungulira a nthambi iliyonse nthambi amawerengedwa. Kuzungulira kwa mchimwene uliwonse ndi malo oyamba kungatsimikizidwe. Kuyenda kolowera kapena ngodya kumatha kupezeka mwa kuchotsa maudindo kapena malingaliro ochokera pazomwe adapeza.

Hexapod parameter:

Mapangidwe a ma hexpod amakina a Hexpod amafunikira kuchepetsa kuphatikizika kwakukulu kwa mitsempha yosinthika kwinaku akumana ndi zofuna zantchito. Magawo omwe amapanga amaphatikizapo ma radius a mabwalo olumikiza nsanja zokhazikika ndi kusuntha, kutalika kwa nsanja zokhazikika ndi zosasunthika, ndi ngolo. Njira yotsatsira imaphatikizapo kupeza njira yayikulu yosinthira ndikuyenda kwamitundu yosinthika yamapiko osiyanasiyana. Makina olemera kwambiri amawerengedwa, ndipo papulatifomu imapangitsa kuti thupi laling'ono kwambiri lioneke ngati labwino. Magawo opanga amatha kulembedwa m'magulu atatu kutengera zolemera zomwe zaperekedwa kwa