Inaliti eneqikili ngokubanzi iqulathe inkqubo yolawulo, inkqubo yokuqhuba kunye nenkqubo yolawulo. Inkqubo yokuphumeza kunye nokuqhuba yenzelwe ukugqiba umsebenzi oqhelekileyo wengalo, ngokusebenzisa i-pneumatic okanye imoto ukuqhuba ukusebenza kwamalungu omatshini, ukufezekisa umsebenzi wokuthatha izinto. Ngokukhula ngokuthe ngcembe kwesicelo se-manipulator, ngoku kulula ukubeka into oyifakileyo, usike imveliso yerabha kwaye uhlanganisane ngokulula.
1. Isiphathi esilawulayo esisisiseko, esibandakanya inkqubo yenkqubo emiselweyo kunye nenkqubo yemowudi yokuyalela ngokweemfuno zenkqubo yemveliso. Inkqubo yemo yoLungiso igubungela iinkqubo ezahlukeneyo zokubumba ngenaliti, kusetyenziswa isilawuli seshishini ukwenza izinto ezilula, eziqhelekileyo neziphindaphindayo. Inkqubo yenkqubo yokufundisa yenzelwe ngokukodwa umatshini wokubumba inaliti kunye nenkqubo yemveliso ekhethekileyo, kwaye ifezekisa injongo yokubuyiswa okuyimpumelelo ngokulungiselela amanyathelo asisiseko ngokulandelelana nangokukhuselekileyo.
2. Isilumko ngenaliti yesilumko, olu hlobo lwe-manipulator ngokubanzi lubandakanya ukubekwa kwememori yamanqaku amaninzi, indawo yokulinda engenakuphikiswa, iidigri zenkululeko kunye neminye imisebenzi. Ngokubanzi, isebenzisa i-servo drive, enokwenza owona msebenzi unzima wokuphunyezwa komntu. Inokuxhotyiswa kwakhona ngabenzi boluvo abaphambili ukuyenza ibonakale, ibambe kwaye isebenze ngokufudumeleyo, iyenze ibe ngumatshini wenaliti okrelekrele kakhulu ebantwini.
Olunye udidi zezi zilandelayo:
Imowudi yokuqhuba yahlulwe yomoya, ukuguqula rhoqo kunye ne-servo.
Ngokwendlela yoomatshini, inokwahlulahlulwa ibe luhlobo olujikelezayo, uhlobo oluthe tyaba kunye nohlobo lwecala.
Ngokwakhiwo kwengalo, inokwahlulahlulwa ibe licandelo elinye kunye necandelo eliphindwe kabini.
Ngokwenani leengalo ezahlulwe zangalo elinye kunye nengalo ezimbini.
Ngokwakhiwo lwe-x-axis, inokwahlulahlulwa ibe luhlobo lwengalo olujingayo kunye nohlobo lwesakhelo.
Ngokwenani lezembe, linokwahlulahlulwa libe li-axis enye, i-axis ephindwe kabini, i-axis ezintathu, i-axis ezine kunye ne-axis ezintlanu.
Ngokweenkqubo ezahlukeneyo zolawulo, inokwahlulwahlulwa ngokweenkqubo ezizinzileyo kunye neenkqubo zokuzihlela.
Ngokwengalo inokushukumiseka ukwahlula ubungakanani besixhobo, ngokubanzi kwiinyuselo ze-100 mm.