Iyini irobhothi le-6 DOF yenkululeko?

Ukwakheka kwe-robot eyisithupha-yenkululeko ehambisanayo kunamapulatifomu aphezulu nangaphansi, ama-telescopic ayi-6amasilindaEmaphakathi, futhi ama-6 ebhola ama-hinges ohlangothini ngalunye lwamapulatifomu aphezulu nangaphansi.

Ama-cylinders ajwayelekile we-telescopic ahlanganiswa ama-servo-kagesi noma amasilinda e-hydraulic (i-tonnage enkulu ngohlobo lwama-hydraulic cylinders). Ngosizo lwesithuphaI-Electric Cylinder Actuatorukunyakaza kokwanda nokwenziwa kwe-contraction, gcwalisa ipulatifomu esikhaleni sama-degree esiyisithupha senkululeko (x, y, z, α, β, z, simulators, ama-satellite, imicibisholo yendiza (i-kinetic file swing Stage) nokunye amasimu. Embonini yokucubungula kungenziwa ngamathuluzi omshini wokuxhumanisa ayisithupha, amarobhothi nokunye.

Izici ezibalulekile zamarobhothi ama-nkululeko afanayo:

Kusukela kwethulwa amarobhothi ezimboni, amarobhothi anama-tandem Mecha aphethwe. Amarobhothi e-Tandem anesakhiwo esilula nendawo enkulu yokusebenza, futhi ngaleyo ndlela isetshenziswa kabanzi. Ngenxa yokulinganiselwa kwamarobhothi ama-tandem uqobo, abacwaningi bashintshe kancane kancane indlela yabo yokucwaninga ngamarobhothi afanayo. Uma kuqhathaniswa namarobhothi ama-tandem, amarobhothi ayisithupha-wenkululeko afana nenkululeko anezici ezilandelayo:

1. Akunaphutha elihlanganisiwe, ukunemba okuphezulu.

2. Idivaysi yokushayela ingabekwa noma iseduze neplatifomu ehleliwe, ukuze ingxenye ehambayo ilula ngesisindo, iphakeme ngejubane futhi ilungele ukuphendula okunamandla.

I-3. Isakhiwo esihlangene, ukuqina okuphezulu, umthamo omkhulu wokuthela, isikhala esincane sokusebenza.

I-4. Indlela ehambelana ngokuphelele ne-symmetrical parallel ine-isotropy enhle.

Ngokusho kwalezi zici, amarobhothi anama-degree-wenkululeko asetshenziswa kabanzi asetshenziswe kabanzi emasimini adinga ukuqina okuphezulu, ukunemba okuphezulu noma imithwalo emikhulu ngaphandle kwendawo enkulu yokusebenza.

Izinzuzo ze-6dof ngaphezulu kwe-3DOF

Ku-VR, okuhlangenwe nakho okuhlukahlukene kwe-3dof kuyasiza kwizicelo ezikhawulelwe ezingadingi ukucwiliswa okugcwele, njengenguqulo elula yokushayela eyenzelwe ukuvivinya izikhathi zokuphendula. Lokhu kungaba yimpikiswano, kepha kwenza isipiliyoni "esicaba".

Ukuze uthole isipiliyoni se-VR esi-VR esigcwele ngokuphelele, i-6dof ikuvumela ukuba uzungeze into ngokombuzane okungu-360-degree, ugobe ngaphezulu bese ubuka into kusuka phezulu kuya phansi - noma ugobe bese ubuka into kusuka phansi kuya phezulu. Lokhu kulandelela okuzenzakalelayo kwenza okuhlangenwe nakho okubandakanya ngokwengeziwe, okuwukubalulekile ukuze kube nokulinganiselwa okungokoqobo njengokuqamba izicishamlilo, lapho kudingeka khona inkululeko enkulu yokuhambisa nokukhohlisa izinto emvelweni.