Uyilo olugqibeleleyo lwe-hexapod ye-hexapod ye-rameter ye-strkes enkulu ye-stroke fing fing hinge_ingubes

Nqabile:

Ukusebenza kwe-chinge enkulu ye-hinge e-hinge e-hexndabapod ixhomekeke kakhulu kwintsebenzo ye-hinge eguqukayo. Ukubetha okukhulu kwi-hinge eguqukayo kukhokelela ekuthambekeni kwe-off-axis eyomeleleyo, ngaloo ndlela kuncitshiswa uzinzo olupheleleyo, ukuqina, kunye nokuchaneka kwendlela. Eli phepha lixoxa ngesisombululo se-hinematics elingenamatis, kubandakanya ukwanda kunye nobude bokwahlulahlula i-chain nganye yesebe kunye nokujikeleza kwe-hinge nganye. Ngokusekwe koku, iiparamitha zendlela ye-hexapod kunye ne-stroke enkulu ngokupheleleyo i-Hinge ilungiselelwe ukunciphisa iimfuno ze-hinge nganye ngelixa ihlangabezana neemfuno zesithuba esishukumayo.

Iinkqubo ze-optical zisetyenziswa kakhulu kwimimandla eyahlukeneyo yobunjineli echanekileyo njengamantshontsho e-microscopes, i-semicondcuctor imveliso, kunye nokuhlolwa kwendawo. Ukuze kuqinisekiswe ukuchaneka kwendlela yokukhanya, iinkqubo zokubeka i-precise ziyafuneka kwiinxalenye zamehlo. Ukubeka iimfuno zokuchaneka kwesipili se-Aperture Space Space Spacescopes, ezinjengesithuba se-telescope ye-telescope (ibala), iphezulu kakhulu. Iirobhothi zemveli ezifanayo nezibini ze-kinematic, ezinjengamalungu ebhola kunye namalungu ewonke, zisetyenziselwa ukuma ngokuthe ngqo kwezinto ezibonakalayo. Nangona kunjalo, ezi ndlela zinokubangela ukuphulukana nokuchaneka. Ukoyisa oku, uhlobo olutsha lwerobhothi ehambelana ne-hinge eguqukayo njengoko izibini ze-kinematic ziphuhlisiwe. I-hinges eguqukayo inika izibonelelo ezinjengobume olulula, akukho xinzelelo, kunye nokuchaneka okuphezulu, ukunika iindlela ngokucacileyo kunye neenkqubo ezichanekileyo. Nangona kunjalo, iirobhothi eziguquguqukayo eziguquguqukayo eziguquguqukayo zinendawo yokusebenza engapheliyo, ubukhulu becala kwimigangatho ye-cubic mic. Ukufezekisa i-strooke enkulu, iindlela ezimbini ze-kinematic ze-finematic zihlala zisetyenziswa, zonyusa ubunzima benkqubo kunye neendleko. Ukujongana nale nto, abaphandi baphuhlise iirobhothi eziguquguqukayo ezihamba nge-strokes ezinkulu. Eli phepha ligxile kuyilo lweparamitha yeparake ye-hinge efihlakeleyo ye-hinge efihlakeleyo ye-hexapod yendawo echanekileyo yezinto ezichanekileyo.

Isisombululo se-kinematics:

Imodeli yomzimba we-pseudo-rigid ye-fig eguqukayo ye-Hinge eguqukayo ye-hexapod isungulwe, kwaye i-hinge eguqukayo ithathelwa ingqalelo ukuba idityaniswe ngobuqili. Isisombululo esingeyonyani se-kinematics kubandakanya ukugqiba ukwanda kunye nobude bokwahlulahlula i-chain nganye yesebe kunye nokujikeleza kwe-hinge nganye. Ukujikeleza kweMatrix yeChain yesebe kubalwa, kwaye ii-angles zokujikeleza kwee-hinge eziguquguqukayo ziyafumaneka. NgeeRoctory Matric Matrics, ukujikeleza kwematrix yesebe ngalinye kubalwa. Ii-angles zokujikeleza kwesihlobo ngasinye esidibeneyo kwisikhundla sokuqala sinokumiselwa. Izixa-mali ezidibeneyo zentshukumo okanye ii-angles zinokufunyanwa ngokukhupha izikhundla zokuqala okanye izimo zengqondo ezivela kwixabiso elifunyenweyo.

Ulungelelwaniso lweparamitha ye-hexapod:

Uyilo loyilo lweparamitha ye-hexapod ye-hexapod ijolise ekunciphiseni ukungcungcutheka okuphezulu kwezindululo ngelixa uhlangabezana neemfuno zomsebenzi. Iiparamitha zoyilo zibandakanya iredima yemijikelezo eqhagamshela amaqonga aqingqiweyo kunye nokuhambahamba, ukuphakama phakathi kwamaqonga aqingqiweyo kunye nokuhambahamba, kunye nee-angles. Inkqubo yokuphucula iquka ukuba ifumane ukujikeleza okujikelezayo kunye nokuhamba kwee-hinges eziguquguqukayo kwindibaniselwano eyahlukileyo yeparamer. Isixa esinzima seli maxabiso amalunga sibalwa, kwaye iiparamitha zeqonga ezikhokelela kwinani elincinci elincinci lithathwa njengegqibeleleyo. Iiparamitha zoyilo zinokuhlelwa zizigaba ezintathu ezisekwe kwimilinganiselo eyabelwe i