Kurongeka kwekugadzirwa kwehexapod mechnism parameter yekurova yakakura inochinjika inoshanduka-inochinjika-ruzivo_tall

Abstract:

Iko kuita kweiyo yakakura-stroke inoshanduka inoshanduka hinge hexapod mechanism inochengetedza zvakanyanya pakuita kweiyo inoshanduka. Kurova kwakakura mukuchinjika hinge kunoguma nekudzikira pasi kubva ku-axis kuomarara, nekudaro kuderedza kugadzikana kwechigadziko, kuomarara, uye kurongeka kwemuchina. Iri pepa rinokurukura nezvezvakashata zveKinematics mechenism yemuchina weHoxapod, kusanganisira kuwedzera uye kuwirirana kwehurefu hwetari yebazi uye kutenderera kweganda rimwe nerimwe. Zvichienderana neizvi, paramende yemuchina wehexapom ine hombe-simiti inoshanduka-sceroble yekuchinjika kuti ideredze zvinodiwa nedanho rekurova kwechiitiko chega chechiitiko chekufamba.

Sporcal Systems inoshandiswa zvakanyanya mune dzakasiyana-siyana dzekupedzisira-excision mexering minda yakadai seye Optical microscopes, Semiconductor kugadzirwa, uye kuongorora nzvimbo. Kuti uve nechokwadi chekuti chokwadi chemaonero ekunze, precise positioning masisitimu anodikanwa kune zvinhu zvemashoko. Izvo zvinongedzo zvakanaka zvinodikanwa zvechikamu che-sub-girazi kupenya kweiyo hombe-yakarongedzwa nzvimbo teresikopu, senge nzvimbo inoshatisa terescope (nzvimbo), yakakwirira kwazvo. Tsika dzakafanana dzakatarisana neinematic vaviri vaviri, dzakadai seBlock majoini uye pamwe chete nemajoini, anoshandiswa precise chinzvimbo chezvinhu zvezvinyorwa zvechokwadi. Nekudaro, aya matanho anogona kukonzera kurasikirwa kwekunyatsojeka. Kukurira izvi, rudzi rutsva rwemaruva akaenzana nehuremu hunoshanduka senge kinematic pairs yakagadzirwa. Hombo dzinochinja dzinopa zvakanakira senge chimiro chakareruka, hapana kupokana, uye nekunyatsojeka, kugonesa zvakanyatsonaka uye zvakanyatsojeka masisitimu. Nekudaro, tsika zvizere zvinoshanduka-shanduka zvakafanana marobhoti ane mashoma ekushanda nzvimbo, kazhinji mu cubic micron micron micron. Kuti uwane sitiroko yakakura, maviri-stage kinematic michina anowanzo shandiswa, ayo anowedzera maitiro ehurongwa uye mutengo. Kugadzirisa izvi, vatsvagiri vakagadzira chinja chinowanzoitika mumabhobhoti makuru. Iri pepa rinotarisa pane paramende optimization dhizaini yeiyo yakakura-stroke inoshanduka-felxible hinge hexapod mechanism yekukanda zvinhu zvezvikamu zvechokwadi.

Kinematics Inverse Solution:

Muenzaniso wePseudo-Rigid Muviri weiyo inoshanduka yemhando yeHinge Hexapod Mechanism inosimbiswa, uye iyo inoshanduka inoshanduka inofungidzirwa kuve yakajairwa yakabatanidzwa neinotenderera kuomarara. Iyo Inverse Kinematics Solution inosanganisira kusarudza kuwedzera uye kupindirana kureba kweteni yebazi rega rega uye kutenderera kwegona yechiitiko chimwe nechimwe. Iyo kutenderera Matrix yeiyo imwe chete yebazi yebazi yakaverengerwa, uye iyo yekupedzisira makona eiyo anochinjika maHinge anowanikwa. Nematunhu anozivikanwa anotenderera, iyo yakazara kutenderera matrix yetari yebazi rega rega yakaverengerwa. Iyo yekutenderera ingwe dzeimwe neimwe hama yakabatana kune yekutanga chinzvimbo inogona kutsanangurwa. Iyo yekubatanidza inofamba inowanzoitika kana angles inogona kuwanikwa nekubvisa nzvimbo dzekutanga kana hunhu kubva kune dzakawanikwa tsika.

Hexapod paramende optimization:

Iyo yekubhadhara dhizaini yehexapod mechanism parameter inovavarira kuderedza kusvibiswa kwakanyanya kweiyo inoshanduka mishonga yekuchinjika ichisangana nezvinodiwa zvekushandisa. Ma parmeter ekugadzira anosanganisira iyo radius yematenduru inobatanidza iyo yakatarwa uye inofambisa mapuratifomu, iyo yakareba pakati peiyo yakatarwa uye inofambisa mapuratifomu, uye makona. Iyo yekubhadhara maitiro inosanganisira kutsvaga iyo yakakwira kutenderera kona uye kufamba kweiyo inoshanduka-inochinjika maruva emisangano yakasiyana paramende. Iyo inorema-huwandu hwehunhu hwakanyanya hwakaverengerwa, uye iyo platform parameter ayo anoguma nemuviri diki kurema-huwandu hunoonekwa seanoratidzwa. Iyo ma parmeter emahara anogona kuiswa mumapoka matatu zvichienderana nehuremu hwakapihwa