Idizayini efanelekile yemishini yemishini ye-hexapod yemishini enkulu yezifo eziguqukayo ze-hinge_hingre_talls

-Catshangwa:

Ukusebenza komshini omkhulu we-hinge hexapod umuthi uncike kakhulu ekusebenzeni kwe-hinge eguquguqukayo. Isifo sohlangothi esikhudlwana emiphumeleni eguquguqukayo emiphumeleni ngokuqina kwe-aff-axis, ngaleyo ndlela kunciphisa ukuqina okuphelele, ukuqina, kanye nokunemba komshini. Leli phepha lixoxa ngesixazululo se-Inverse Kinematics se-Hexapod Mechanism, kufaka phakathi ukwanda kanye nobude obuhlukile beketanga ngalinye legatsha kanye ne-rotation angle ye-hinge ngayinye. Ngokusekelwe kulokhu, amapharamitha we-Hexapod Mechanism nge-hinge eguquguqukayo eguquguqukayo eguquguqukayo alungiselelwe ukunciphisa izidingo zohlanga ze-hinge ngayinye ngenkathi ehlangabezana nezidingo zesikhala ezinyakazayo.

Izinhlelo ze-Optical zisetshenziswa kabanzi ezinkundleni zobunjiniyela ezahlukahlukene ze-Ultra-Precision ezinjenge microscopes ye-optical, ukukhiqizwa kwe-semiconductor, kanye nokuhlola isikhala. Ukuze uqinisekise ukunemba kwendlela yokubona, izinhlelo eziqondile zokuma zidingeka kwizakhi ze-optical. Izidingo zokunemba zokuma kokuma kwesibuko ukuhlukaniswa kwesibonakude esikhulu se-aperture space, njenge-Space spherical optical telescope (indawo), ziphakeme kakhulu. Amarobhothi afanayo endabuko anama-kinematic ngababili, njengamalunga webhola kanye namajoyinti wendawo yonke, asetshenziselwa ukuma okuqondile kwezakhi ze-optical. Kodwa-ke, lezi zinqubo zingadala ukulahleka kokunemba. Ukuze unqobe lokhu, uhlobo olusha lwerobhothi elihambisanayo elinama-hinges aguqukayo njengoba kwenziwe ngababili be-kinematic. Ama-hinges aguqukayo anikela ngezinzuzo ezinjengesakhiwo esilula, akukho ukungqubuzana, nokunemba okuphezulu, okwenza amasistimu aqondile futhi anembile. Kodwa-ke, amarobhothi endabuko aguquguqukayo aguquguqukayo anesikhala sokusebenza esilinganiselwe, ikakhulukazi ezingeni le-micron ye-cubic. Ukuthola unhlangothi olukhudlwana, izindlela ezinama-kinematic ezineziteji ezimbili zivame ukusetshenziswa, okukhulisa ubunzima besistimu nezindleko. Ukuze ubhekane nalokhu, abacwaningi bathuthukisile amarobhothi avumelanelisayo afanayo ngemivimbo emikhulu. Leli phepha ligxile ekwakhiweni kwepharamitha ekusebenzeni kahle komshini omkhulu we-hinge hexapod umuthi wokuma okuqondile kwezakhi ze-optical.

Isixazululo se-Kinematics Inverse:

Imodeli yomzimba eqinile ye-pseudo-eqinile ye-flexible hinge hexapod mechanism yami, futhi i-hinge eguquguqukayo ithathwa njengokuhlangene okuyindilinga ngokuqina okujikelezayo. Isixazululo seKinematics e-Inserse Ifaka Ukuthola ukwanda kanye nobude be-contraction of getch chain ngayinye kanye ne-angle yokujikeleza ye-hinge ngayinye. I-matrix yokujikeleza ye-chain ngayinye yegatsha ibalwa, futhi ama-angles ajikelezayo ama-hinges aguquguqukayo atholakala. Ngomatikuletsheni abajikelezayo owaziwayo, i-matrix ephelele yokujikeleza kwe-chain ngayinye yegatsha ibalwa. Ama-engos ajikelezayo we-REASTION ehlanganyelwe nesikhundla sokuqala anganqunywa. Amanani ahlanganyelwe noma ama-engeli ahlanganayo angatholakala ngokukhipha izikhundla noma izimo zokuqala ezivela kumanani atholakele.

I-Hexapod Parameter Optimization:

Ukuklanywa kokusebenza kahle kwemishini ye-hexapod mechanism kuhlose ukunciphisa ukuguquguquka okuphezulu kwama-hinges aguqukayo ngenkathi uhlangabezana nezidingo zokusebenzela. Amapharamitha wokuklama afaka irediyo yemibuthano exhuma amapulatifomu aminyekele futhi ahambayo, ukuphakama phakathi kwamapulatifomu amisiwe futhi ahambayo, nama-engeli. Inqubo yokusebenzisa kahle ifaka ukuthola i-angle ephezulu yokujikeleza nokuhamba kwama-hinges aguquguqukayo wenhlanganisela yepharamitha yesikhulumi ehlukile. Isisindo salawa manani aphezulu sibalwa, kanye namapharamitha wesikhulumi aphumela ekutheni isisindo esincane kunazo zonke sithathwa njengesanele. Amapharamitha wokuqamba angahlukaniswa ngezigaba ezintathu ngokuya ngezinsimbi ezabelwe i