Amarobhothi alawulwa kude aqhubeka nokwenza umsebenzi ezimweni eziphuthumayo njengokufuna abasindile ezakhiweni ezidilikile.
Ukutholwa kwezinto ezingaba yingozi, izimo zokuthunjwa noma ezinye izindlela zokuphoqelela umthetho kanye nokulwa nobuphekula. Lo mshini okhethekile wokusebenza kude usebenzisa ama-micromotor anembile kakhulu esikhundleni sezisebenzi ezingabantu ukwenza imisebenzi eyingozi edingekayo, okunganciphisa kakhulu ingozi kubasebenzi abathintekayo. Ukuphathwa okunembile kanye nokuphathwa kwamathuluzi okunembile kuyizinto ezimbili ezibalulekile.
Njengoba ubuchwepheshe buqhubeka nokuthuthuka futhi buthuthuka, amarobhothi angasetshenziswa emisebenzini eyinkimbinkimbi neyinselele. Ngenxa yalokho, amarobhothi manje asetshenziswa kakhulu ezimweni eziphuthumayo eziyingozi kakhulu kubantu - njengengxenye yemisebenzi yezimboni, ukuphoqelelwa komthetho noma izinyathelo zokulwa nobuphekula, njengokuhlonza izinto ezisolisayo noma ukuvimba amabhomu. Ngenxa yezimo ezinjalo ezimbi kakhulu, lezi zimoto zokulawula kumele zibe zincane ngangokunokwenzeka ukuze zihlangabezane nezidingo ezithile. Izingalo zazo zokubamba kumele zivumele amaphethini okunyakaza aguquguqukayo ngenkathi zibonisa ukunemba namandla adingekayo ukusingatha imisebenzi ehlukahlukene. Ukusetshenziswa kwamandla nakho kudlala indima ebalulekile: lapho idrayivu isebenza kahle, kulapho impilo yebhethri iba yinde khona. Ama-micromotor akhethekile asebenza kahle kakhulu abe yingxenye ebalulekile yensimu yamarobhothi alawulwa kude, ahlangabezana nezidingo ezinjalo ngokuphelele.
Lokhu kusebenza futhi kumarobhothi okuhlola amancane kakhulu.
Ezifakwe amakhamera futhi ngezinye izikhathi ziphonswa ngqo endaweni yokusetshenziswa, ngakho-ke kumele zikwazi ukumelana nokushaqeka, okunye ukudlidliza kanye nothuli noma ukushisa ezindaweni ezingaba yingozi kakhulu. Kulesi simo, akekho umuntu ongaya ngqo emsebenzini ukuyofuna abasindile. Ama-Ugv (izimoto zomhlaba ezingenamshayeli) angenza lokho kanye. Futhi, ngenxa ye-FAULHABER DC micromotor, ehambisana ne-planetary reducer eyandisa i-torque, zithembeke kakhulu. Ubukhulu obuncane bama-UGV buvumela ukusesha izakhiwo eziwile ngaphandle kwengozi futhi buthumela izithombe zesikhathi sangempela, okwenza zibe ithuluzi elibalulekile lokwenza izinqumo kubaphenduli bezimo eziphuthumayo uma kukhulunywa ngezimpendulo zamaqhinga.
Injini kanye negiya le-Dc elinembile elenziwe ngedivayisi ye-compact drive efanelekile emisebenzini eyahlukahlukene yokushayela. Lawa marobhothi aqinile, athembekile futhi ashibhile.
Namuhla, amarobhothi ahambayo avame ukusetshenziswa ezimweni ezibucayi lapho kunengozi enkulu kubantu nasezingxenyeni zemisebenzi yezimboni.
Izindlela zokuqinisa umthetho noma zokulwa nobuphekula, njengokuhlonza izinto ezisolisayo noma ukucisha amabhomu. Kulezi zimo ezimbi kakhulu, laba "baqhubi bezimoto" bayadingeka ukuze bahlangabezane nezidingo ezithile. Ukuphathwa ngendlela enembile kanye nokuphathwa kwamathuluzi ngendlela enembile kuyizinto ezimbili eziyisisekelo ezidingekayo. Yiqiniso, idivayisi kumele futhi ibe ncane ngangokunokwenzeka ukuze ikwazi ukungena ezindleleni ezincane. Ngokwemvelo, ama-actuator asetshenziswa amarobhothi anjalo ayamangalisa impela. Ama-micromotor akhethekile asebenza kahle kakhulu abe yingxenye ebalulekile.
Nokho, ukuphakamisa ama-30kg ekugcineni kwengalo sekuvele kuyinselele enkulu.
Ngesikhathi esifanayo, imisebenzi ethile idinga ukunemba kunokuba kube amandla amakhulu. Ngaphezu kwalokho, isikhala sokuhlanganiswa kwengalo sincane kakhulu. Ngakho-ke, ama-actuator alula futhi aqinile ayadingeka kuma-gripper. Ukuze uhlangabezane nalezi zidingo eziyinselele, qiniseka ukuthi i-gripper kumele ikwazi ukujikeleza ama-degree angu-360 ngenkathi ihlangabezana nokunemba okudingekayo kanye nekhono lokusingatha imisebenzi eyahlukahlukene.
Ukusetshenziswa kwamandla nakho kudlala indima ebalulekile lapho kusetshenziswa amadivayisi asebenzisa ibhethri. Uma ukusebenza kahle kokudlulisa kuphakeme, isikhathi sesevisi siba side. "Inkinga yokushayela" ixazululwa kusetshenziswa i-micromotor ye-DC enamagiya namabhuleki eplanethi. Injini yochungechunge lwe-3557 ingasebenza kuze kufike ku-26w nge-voltage elinganisiwe engu-6-48v, futhi kanye negiya elisethwe kusengaphambili le-38/2 series, ingandisa amandla okushayela abe yi-10Nm. Amagiya ensimbi yonke awagcini nje ngokuba aqinile kodwa futhi awazweli emithwalweni yesikhashana. Izilinganiso zokunciphisa zingakhethwa kusukela ku-3.7:1 kuya ku-1526:1. Igiya lenjini elihlanganisiwe kufanele lihlelwe kahle esifundeni esiphezulu se-manipulator. Ukubhuleka okuhlanganisiwe kuqinisekisa indawo yokugcina uma kwenzeka ugesi uphela. Ngaphezu kwalokho, izingxenye ezihlanganisiwe kulula ukuzinakekela, futhi izingxenye eziphukile zingashintshwa ngokushesha. Enye inzuzo ebalulekile: Ama-motor anamandla e-DC brushed adinga kuphela izilawuli ezilula zokunciphisa ugesi. Impendulo yamandla amanje isetshenziswa ku-lever yokulawula okude ngokucindezela emuva, okunikeza opharetha umuzwa wamandla wokusebenzisa i-gripper noma "isihlakala". I-compact drive assembly yakhiwe nge-DC motor enembile kanye negiya lokulungisa. Ifanele imisebenzi eyahlukahlukene yokushayela. Inamandla, ithembekile futhi ishibhile. Ukusebenza okulula kwenjini ejwayelekile yezingxenye kuhlangabezana nezidingo ze-eshibhile, esheshayo nethembekile.