Idizayini efanelekile yemishini yemishini ye-hexapod yemishini enkulu yezifo eziguqukayo ze-hinge_hingre_talls1

-Catshangwa:

Ukusebenza kwendlela enkulu eguquguqukayo ye-Hinge Hexapod Mechanism ukuncipha kakhulu ekusebenzeni kwe-hinge eguquguqukayo. Njengoba unhlangothi, ukuqina kwe-axis-axis kuyancipha, okuholela ekunciphiseni ukuqina nokunemba. Leli phepha lixoxa ngesixazululo se-kinematics engqubuzana ye-hexapod mechanism, kufaka phakathi ukwanda kanye nobude begatsha ngalinye kanye ne-rotation angle ye-hinge ngayinye. Ngokwengeziwe, kuhlola ukusebenza kwamapharamitha wendlela enkulu ye-hinge hexapod mechanism enkulu. Umgomo ukunciphisa izidingo zohlanga ze-hinge ngayinye ngenkathi usahlangabezana nezidingo zesikhala esinyakazayo.

Izinhlelo ze-Optical zisetshenziswa kabanzi ekunikezelweni kwezinkambu zobunjiniyela ezifana ne-microscopy, ukukhiqizwa kwe-semiconductor, kanye nokuhlola isikhala. Ukuma okuqondile kwezakhi ze-optical kubalulekile ukuze kugcinwe ukunemba okubonakalayo. I-Hexapod Mechanism inikeza ukuma okuqondile kwezingxenye zendabuko zendabuko ezisebenzisa ama-hinges aguqukayo njengamabili ama-kinematic. Lawa ma-hinges anesakhiwo esilula, akukho ukuxabana, nokunemba okuphezulu. Kodwa-ke, amarobhothi endabuko aguquguqukayo aguquguqukayo anezikhala zomkhawulo zokusebenza, imvamisa ebangeni le-micron cun. Ukufinyelela imivimbo emikhulu, ingasetshenziswa indlela ye-kinematic yesigaba ezimbili. Le ndlela inyusa ukuxaka kohlelo nezindleko. Leli phepha ligxile ekwakheni kahle ukwakhiwa kwepharamitha le-stroke hinge hexapod mechanism, ngohlelo oluthile lokuma okuqondile kwezakhi ze-optical.

1. Isixazululo se-Kinematics Inverse:

Iphepha lisungula imodeli yomzimba eqinile ye-pseudo-eqinile ye-Flexible Hinge Hexapod Mechanism. I-hinge eguquguqukayo phakathi kwe-strut neplatifomu ehambayo ithathwa njengehlazo eliyindilinga ngokuqina okujikelezayo, ngenkathi i-haingefless hinge eguquguqukayo phakathi kwe-strut kanye nepulatifomu elungisiwe icatshangelwa ukuthi iyi-hinge yendawo yonke. Isixazululo seKinematics Inversesi sibandakanya ukunquma i-angle yokujikeleza ye-hinge eguquguqukayo. Lokhu kwenziwa ngokubala i-matrix yokujikeleza kokuhlanganiswa ngakunye nokuxazulula ama-engeli ajikelezayo ahlanganyelwe. Umphumela uba isethi yezixazululo ezihlomileyo zamalunga amahlanu e-chain ngayinye yegatsha.

2. I-Hexapod Parameter Optimization:

Leli phepha liphakamisa umklamo we-paramedeter nokwenza kahle kwe-hexapod mechanism. Injongo ukunciphisa i-deformation ephezulu yazo zonke izihibe eziguquguqukayo ngenkathi uhlangabezana nezidingo zokusebenzela. Amapharamitha design afaka irediyo yemibuthano lapho ama-hinge aguquguqukayo axhunyiwe khona, i-angle phakathi kwemigqa exhuma amaphuzu athile, nokuphakama kwamapulatifomu ahleliwe futhi ahambayo. Ukusebenza kahle kwenziwa ngokuthola isamba esiphansi esinesisindo se-angle ephezulu nokuhamba kwama-hinges aguqukayo ngaphansi kwenhlanganisela ehlukene yepharamitha. Imiphumela ikhombisa ukuthi amapharamitha wokuqamba angahlukaniswa izigaba ezintathu: ukujikeleza okujikelezayo, okuqondiswe emgqeni, nokuphelele.

Ekuphetheni, leli phepha liveza ukwakheka okuhle kokwenza kahle kwepharamitha ye-Stroke Hexapod Mechanism enkulu. Isixazululo se-Inverse Kinematics siyahlaziywa, futhi amapharamitha we-Hexapod Mechanism alungiselelwe ukunciphisa i-deformation of the adfy hinge ngenkathi ehlangabezana nezidingo zokusebenzela. Imiphumela ikhombisa ukubaluleka kokucabanga kokubili ukujikeleza nokwanda ekwakhiweni, futhi kugqamisa isidingo sokwenza kahle. Okutholakele kunikezela ngokuqonda okubalulekile kokuqamba kanye nokwenza kahle kwezindlela ze-hexapod kuzicelo ezidinga ukunyakaza okukhulu kwe-stroke.