Uyilo olugqibeleleyo lwe-hexapod ye-hexapod ye-rameter ye-strkes enkulu ye-stroke fing fing hinge_ingubes1

Nqabile:

Ukusebenza kwe-chinge enkulu ye-hinge e-hinge ye-hexndabapod ithembela kakhulu kwintsebenzo ye-hinge eguqukayo. Njengoko i-stroke inyuka, ukuqina kwe-Oxis Stiff deccoases, kukhokelela ekunciphiseni kokuncitshiswa kozinzo olusezantsi kunye nokuchaneka. Eli phepha lixoxa ngesisombululo se-tinematics engafaniyo ye-hexapod ye-hexapod, kubandakanya ukwanda kunye nobude becandelo ngalinye kunye nokujikeleza kwe-hinge nganye. Ukongeza, iphonononga impumelelo yeparamitha ye-thespable ye-hinge efihlakeleyo ye-hinge. Injongo kukuthoba iimfuno zeStroke kwi-hinge nganye ngelixa uhlangabezana neemfuno zesithuba esishukumayo seqonga lokuhamba.

Iinkqubo ze-optical zisetyenziswe ngokubanzi kwicandelo lezobunjineli echanekileyo njenge-microscopy, imveliso ye-semicondcuctor, kunye nokuhlolwa kwendawo. Ukuma ngokuthe ngqo kweenxalenye zezinto ezibonakalayo kubalulekile ukuze ugcine ngokuchanekileyo. Indlela ye-hexapod ibonelela ngeendawo ezichanekileyo zezinto zemveli ezisebenzisa iziqendu eziguqukayo njengezibini ze-kinematic. Ezi hinges zinobume obulula, akukho mpindezelo, kwaye ichanekile. Nangona kunjalo, iirobhothi eziguquguqukayo eziguquguqukayo eziguquguqukayo zinezithuba zokusebenza ezinqamlezileyo, zihlala zikwi-cubic mic scriber. Ukufezekisa imivimbo emikhulu, indlela ezimbini ze-pinematic ye-winematic inokusetyenziswa. Le ndlela inyusa ubunzima benkqubo kunye neendleko. Eli phepha ligxile ekupheliseni uyilo lweparameter ye-hinge efihlakeleyo ye-hinge efihlakeleyo ye-hexapod, ngesicelo esithile kwimo yecandelo elichanekileyo.

1. Isisombululo se-kinematics:

Iphepha lithatha imodeli yomzimba ye-pseudo-rigid ye-hinge eguqukayo ye-hinge ye-hexapod. I-hinge eguqukayo phakathi kweqonga leStut kunye neqonga lokuhamba lithathwe njengendawo ehlanganisiweyo ye-strongs, ngelixa i-hinge eguqukayo, ngelixa iplagi eguqukayo phakathi kwe-strut kunye neqonga elisisigxina lithathwa njengendawo ye-hinge iphela. Isisombululo se-kinematics engenasisombululo sibandakanya ukugqiba i-angle yokujikeleza kwe-hinge eguqukayo. Oku kwenziwa ngokubalwa kweMatrix yeMatrix yomdibaniso ngamnye kunye nokusombulula ukujikeleza okudibeneyo. Isiphumo siseti yezisombululo ezingaphelelanga kumalungu amahlanu emibutho nganye yesebe.

2. Ulungelelwaniso lweparamitha ye-hexapod:

Iphepha licebisa ukuba uyilo loyilo lweparamitha ye-hexapod ye-hexapod. Injongo kukunciphisa ukungcungcutheka kwazo zonke iindawo eziguquguqukayo ngelixa uhlangabezana neemfuno zomsebenzi. Iparameter ye-parameter ibandakanya iredima yesangqa apho i-hingeds eguqukayo iqhagamshelwe, i-engile phakathi kwemigca edibanisa amanqaku athile, kunye nokuphakama phakathi kwamaqonga aqingqiweyo kunye namaqonga aphezulu. Ulungelelwaniso lwenziwa ngokufumana ubuncinci becala le-angle ephezulu kunye nokuhamba kweendlela eziguqukayo phantsi kwendibaniselwano eyahlukileyo yeparameter. Iziphumo zibonisa ukuba iiparameter zoyilo zinokuhlelwa ngokwamanqanaba amathathu: Ukujikeleza, ukukhokelwa ngumgca, kunye nokufezekiswa okuthile.

Ukuqukumbela, eli phepha lizisa uyilo olululo lweparamitha yeparameter ye-hinge efihlakeleyo ye-hinge efihlakeleyo. Isisombululo esingeyonyani se-kinematics siyahlalutywa, kwaye iiparameter zendlela ye-hexapod zilungiselelwe ukunciphisa ukungcungcutheka kwe-hinge eguqukayo ngelixa ihlangabezana neemfuno zomsebenzi. Iziphumo zibonisa ukubaluleka kokujonga zombini ukujikeleza kunye nokwandiswa kuyilo, kunye nokuqaqambisa isidingo senkxaso. Iziphumo zibonelela ngokuqonda okuxabisekileyo kuyilo kunye nokuphuculwa kweendlela ze-hexapod kwizicelo ezifuna iintshukumo ezinkulu.