Jekiseni manipulator inowanzo kuve inoumbwa nehutongi system, drive system uye system yekudzora. Iyo yekuuraya uye yekutyaira sisitimu inonyanya kugadzirirwa kupedzisa zvakajairika mashandiro eruoko, kuburikidza nepneumatic kana mota kutyaira mashandiro ezvimakanika zvikamu, kuti uwane basa rekutora zvinhu. Nekudzikira zvishoma nezvishoma kwekushandisa kwe manipulator, ikozvino zvave nyore kuisa muwedzero, cheka muromo webara wechigadzirwa uye nekungoungana.
1. Basic jekiseni maneja, iyo inowanzo sanganisira yakagadziriswa modhi chirongwa uye yekurairidza modhi chirongwa zvinoenderana nezvigadzirwa maitiro zvinodiwa. Yakagadziriswa modhi chirongwa inovhara akati wandei akajairika jekiseni kuumbwa maitiro, uchishandisa maindasitiri controller kuita zvakapusa, zvakajairwa uye zvinodzokorora zviito. Iyo yekudzidzisa modhi chirongwa yakanyatsogadzirirwa iyo jekiseni kuumbwa muchina neakasarudzika maitiro ekugadzira, uye inozadzisa chinangwa chekubudirira kudzosa nekuronga zvakakosha zviito zvakarongeka uye zvakachengeteka.
2. Injere jekiseni maneja, iyi mhando ye manipulator kazhinji inosanganisira yakawanda-poindi yekumusoro yekuisa, yekumanikidza poindi yakamira, mamwe madhigiri erusununguko uye mamwe mabasa. Kazhinji, inoshandisa servo drive, iyo inogona kuita kwakaomesesa mashandiro ehumanoid kuuraya. Inogona zvakare kuve yakagadzirirwa neepamberi sensors kuti iite kuti ive neanoona, akagunzva uye anopisa mashandiro, ichiiita iyo yakangwara kwazvo jekiseni muchina Vanhu.
2, Zvimwe zvipenga zvinotevera:
Iyo yekutyaira nzira yakakamurwa kuita pneumatic, frequency kutendeuka uye servo.
Zvinoenderana nechimakanika chimiro, inogona kuve yakakamurwa kuita rotary mhando, yakatetepa mhando uye parutivi mhando.
Zvinoenderana nehurongwa hweruoko, inogona kukamurwa kuita chikamu chimwe chete uye zvakapetwa kaviri.
Zvinoenderana nehuwandu hwemaoko akapatsanurwa kuita ruoko rumwe uye ruviri ruoko.
Zvinoenderana neiyo x-axis chimiro, inogona kuve yakakamurwa kuita yakaturika ruoko mhando uye furemu mhando.
Zvinoenderana nehuwandu hwemasanhu, inogona kuganhurwa kuita imwechete axis, kaviri axis, matatu axis, ina axis uye mashanu axis.
Zvinoenderana nemaitiro akasiyana ekutonga, anogona kuganhurwa muzvirongwa zvakati wandei uye zvirongwa zvekuzvigadzirisa
Zvinoenderana neruoko runogona kuve nhare kusiyanisa saizi yechigadzirwa, kazhinji mu100 mm kuwedzera.
