Kurongeka kwekugadzirwa kwehexapod mechnism parameter yekurova yakakura inochinjika inoshanduka-inochinjika-ruzivo_tall1

Abstract:

Iko kuita kweiyo yakakura-stroke inoshanduka inoshanduka hinge hexapod mechanism inovimbika zvakanyanya pakuita kwekuita kwekuchinja. Sezvo sitiroko inowedzera, iyo off-axis stiffness inoderera, inotungamira kudzikisira static kugadzikana uye kurongeka. Iri pepa rinokurukura mhinduro yeiyo kinematics yemuchina wehexapod, kusanganisira kuwedzera uye kusarudzika kwehurefu hwebazi rimwe nerimwe uye kutenderera kweganda rimwe nerimwe. Pamusoro pezvo, inoongorora iyo yekubhadhara ye parameter yeiyo yakakura-kurohwa inoshanduka inoshanduka hinge hexapod mechanid. Chinangwa ndechekuderedza zvinodiwa zvehunhu zvega zvega zvega zvichiri kusangana neyekufambisa nzvimbo zvinodiwa pachikuva chinofamba.

Sporcal Systems inoshandiswa zvakanyanya muminda yekunyatsojeka senge microscopy, Semiconductor kugadzirwa, uye nzvimbo yekuongorora. Precise chinzvimbo chezvinhu zvezvinyorwa zvakakosha kuti urambe uine optical kurongeka. Iyo hexapod michina inopa chaiyo yekukonzeresa zvinhu zvechinyakare zvinongedzo zvinoshandisa zvinoshanduka-shanduka seinomatiki pairematic vaviri vaviri. Hombo idzi dzine chimiro chakareruka, hapana kupokana, uye nekukanyatsojeka. Nekudaro, tsika inochinjika zvizere marobhoti akaenzana marobhoti ane mashoma ekushanda nzvimbo, kazhinji mune cubic micron micron huwandu. Kuti uwane mitezo mikuru, iyo maviri-stage kinematic mechanism inogona kushandiswa. Iyi nzira inowedzera system kuoma uye mutengo. Iri pepa rinotarisa pamusoro pekutsikisa paramende dhizaini yeiyo yakakura-strobho inoshanduka hinge hexapod mechanism, ine chaiyo application kune iyo chaiyo yekuisa nzvimbo yezvinhu zvemagetsi.

1. Kinematics Inverse Solution:

Iyo pepa rinotanga pseudo-yakaoma muviri mhando yemhando yeiyo inoshanduka yeiyo hinge hexapod mechani. Iyo inoshanduka inoshanduka pakati peiyo strut uye inofambisa chikuva inofungidzirwa kuve yakajairwa nehuremu hwekutenderera, nepo chinoshanduka-famba pakati pechitambi uye chakagadziriswa chikuva chinofungidzirwa kuve wepasirese. Iyo Kinematics Inverse mhinduro inosanganisira kusarudza iyo kutenderera kona yeiyo inoshanduka inoshanduka. Izvi zvinoitwa nekuverenga iyo inotenderera matrix yeimwe neimwe yakabatanidzwa uye kugadzirisa iyo yakabatanidzwa kutenderera makona. Mhedzisiro yacho ndeye seti yemhinduro dzevhu kune mashanu majoini egoridhe yebazi.

2. Hexapod paramende optimization:

Iyo pepa rinokurudzirwa paramende optimization dhizaini yeiyo Hoxapod Mechanism. Chinangwa ndechekuderedza kusvibiswa kwakanyanya kwezvirimwa zvese zvinoshanduka zvichisangana nezvinodiwa zvekushandisa. Dhizaini ma paramende inosanganisira radius yedenderedzwa uko maHinge anochinja anobatanidzwa, iyo kona iri pakati pemitsetse inobatanidza mamwe mapoinzi, uye kukwirira pakati pemapuratifomu akagadziriswa uye anofambisa. Iko kurongeka kunoitwa nekutsvaga huwandu hushoma hwehuwandu hwehuwandu hwekona uye kufamba kweiyo inoshanduka-inochinjika marara pasi pemasanganiswa akasiyana. Mhedzisiro yacho inoratidza kuti maratidziro ekugadzira anogona kuiswa mumapoka matatu: kutenderera-kutungamirwa, mutsara-kutungamirirwa, uye nekunyora fungidziro.

Mukupedzisa, iri pepa rinopa dhizaini rakaringana reparamende yeparamende yeiyo yakakura-kurohwa inoshanduka-shinda hexapod mechanism. Iyo Inverse Kinematics Solution inoongororwa, uye paramende yeiyo Hoxapom mechanism yakagadziriswa kuti ideredze kushomeka kweiyo inoshanduka hinge paunenge uchisangana nezvinodiwa zvekushandisa. Mhedzisiro yacho inoratidza kukosha kwekufunga kutengeserana uye kuwedzera mugadziriro, uye simbisa kukosha kwekunyatsofungidzirwa. Zviwanikwa zvinopa zvakakosha ruzivo rwekugadzirwa uye kuronga kweiyo Hexapod maitiro mune ma application inoda kufambisa-kurova mafambiro.