LRPT-06D100K-A Doni min be se ka yɛlɛma ka se kilo 100 ma

LRT high load hexapod be baara kɛ joona, a be baara kɛ cogo ɲuman na ani a be dɛmɛ ni baarakɛlaw ye minw barika ka bon ani u be baara lɔn. An be fura dafaninw di sannikɛlaw ma! A ka ɲi ka fɛɛnw di, ka ci joona, ka fɛɛnw di wagati bɛnnin na, ka fɛɛnw ni baara ɲumanw di, An ka fɛɛnw be sɔrɔ kɔrɔbɔli gwɛlɛw fɛ, u ka ɲi ka la a la, an be sɔn k’u ɲininga.

O yɛlɛmani be kɛ ni servo yɛlɛmani ye min be kɛ ni dijital ye. Attitude sumalan be sanfɛla yɔrɔ lɔyɔrɔ suma wagati yɛrɛ yɛrɛ la. Jatebɔ sababu fɛ, sanfɛla yɔrɔ ka komandi lɔyɔrɔ be lɔn. Ɔridinatɛri min be mɔgɔw kɔrɔsira, ale be cikanw lɔyɔrɔ ci mikrokontrolɛri ma Ethernet sababu fɛ. Ni a ye yɛlɛmani paramɛtiri cikanw sɔrɔ, mikrokontrolɛri be yɛlɛmani dɔ kɛ yɔrɔ yɛlɛmani modɛli la. A be baara kɛ ni inverse kinematics jatebɔ ye walisa ka bolifɛn bolibaga ka motɛri yɛlɛmani yɔrɔ jati, o min be ci bolifɛntigi ma bisi sababu fɛ. Sofɛri kɔnɔna ordinatɛri be kunnafoniw labɛn ani a be kuran motɛri boli, o min b’a to pilatifɔmu be se ka se yɔrɔ min na a latigɛra. Encoder min be kuran motɛri kan, o be torque, teliya ani lɔyɔrɔ kunnafoniw lɔn wagati yɛrɛ yɛrɛ la, k’u ci bolifɛntigi ma. Sisitɛmu min datugunin lo, o b’a to motɛri ka yɛlɛmayɔrɔ be se ka yɛlɛma wagati tigitigi la. O kunnafoniw be ci fana mikrokontrolɛri ma, o min be baara kɛ ni jatebɔ yɛlɛmani ye walisa ka sanfɛla yɔrɔ lɔyɔrɔ lɔn sisan i n’a fɔ jatebɔlan.

 

 

A be se ka ta ka taga yɔrɔ bɛɛ Lakananin lo ani a be se ka la a la A barikaman lo ani a be mɛn

 

DOF	Sugu wɛrɛw	Teliya	Teliya
Karafu	±13 degere	±30 degere /s	±150 degere /s2
Ka kolonkolon	±13 degere	±30 degere /s	±150 degere /s2
Yaw	±15 degere	±30 degere /s	±150 degere /s2
Sway	±0.10m	0.5m/s	5m/s2
Ka yɛlɛ	±0.10m	0.5m/s	5m/s2
Sanfɛ	±0.08m	0.5m/s	5m/s2

 

Inite:mm

Guliya:Kilo 145

Ɲɛ:Fin

Minan: Aliminiyɔmu + Nɛgɛ

Doni nafaman:Kilo 100

Kundama:milimɛtiri 1026*milimɛtiri 1185*milimɛtiri 750

Doni hakɛ: A ka dɔgɔ ni 100 ye wala a ka kan n’o ye.milimɛtiri 1000*milimɛtiri 1000*milimɛtiri 400

A sigicogo: Dingɛ min be ni juru ye

Yɛlɛmani dingɛ janya: Ka kɛɲɛ n'i sago ye

 

 

Fanga min ka kan ka sɔrɔ	220V AC (hakɛ: -10%-10%)
	A ka teli ka fɔ cogo min na: 50hz (hakɛ:-5%-5%)
	Fanga hakɛ: 1.8Kw
	Fanga min ka bon: 2.4Kw
Sigiyɔrɔ n'a lamini Wajibiyafɛnw	Maraliyɔrɔ: Funteni:-30-65 degere Jigiya:5%-95% Fiɲɛ ka fanga: 85-108Kpa Lakanali hakɛ:IP54
	Baarakɛyɔrɔ: Funteni:-20-50 degere Jigiya:5%-95% Fiɲɛ ka fanga: 85-108Kpa Lakanali hakɛ:IP54

 

 

Masini lɔcogo latangacogo:
Doni jɔnjɔn-minɛfɛnw bɛɛ labɛnna ka kɛɲɛ ni jamana ka sɔrɔdasi sariyaw ye, ani u ka lakanali hakɛ man kan ka dɔgɔya ni 3,0 ye ani u ka bolifɛnw hakɛ man kan ka dɔgɔya ni 3,0 ye.

Kuran dilan cogo latangacogo:
Walisa ka sisitɛmu baara kɛ cogo lafiyanin na ani ka lafiya sɔrɔ ani ka tiɲɛni bali ka kɛ ni sisitɛmu tiɲɛna, latangacogo saba- be kɛ: porogramu latanga, sɛrɛkiliw latanga ani minanw latanga.

Lozisiyɛliw latangacogo:

Komi latangacogo fɔlɔ lo, porogramu latangacogo lo ye latangacogo jɔnjɔn ye ani a be baara kɛ porogramu minw be baara kɛ ni sisitɛmu ye. Kɔrɔbɔli min be kɛ ka tagamasiɲɛw labɛn ka ɲɛ, dancɛw be sigi motɛri ka tagama yɔrɔ min ka jan, a ka baara teliya ani a ka teliya la walisa a kana yɛlɛma ka tɛmɛ min be sɔrɔ -tagama dantɛmɛ fɛ wala teliya dantɛmɛ fɛ motɛri baara wagati la.

Circuit latangacogo:

Komi lakanali hakɛ filanan, sɛrɛkili lakanali be baara kɛ sisitɛmu ka fanga-wagati la. Sisitɛmu motɛri bolibaga be dancɛw sigi motɛri bɔli kode hakɛ, teliyaba, teliya ani bɔli fanga hakɛ la walisa ka motɛri ka teliya caya sababu la, a kana tɛmɛ. Ka fara o kan, dancɛ yɛlɛmalanw be sigi yɔrɔ gwɛlɛw la. O dancɛw ka circuit logic be ɲɔgɔn minɛ ni bolifɛn ye. Ni sisitɛmu kɔnɔfɛn minw be tagama, olu sera yɔrɔ dɔ la min ka jugu kosɔbɛ, nɛgɛjuru ka bɔyɔrɔ kɔfɛta be bali walisa ka -tagama bali ka tɛmɛ nɛgɛjuru tagama wagati la.

Minɛnw latanga:

Komi o ye latangacogo sabanan ye ani min ka bon ni bɛɛ ye, minanw latangacogo be baara kɛ sisitɛmu ka ɲɛnamaya bɛɛ la, u donnin kɔ ani u sɔnna min ma. A b’a to cogo o cogo, sɛgɛsɛgɛrikɛyɔrɔ labɛnnin ka to cogo kelen na, baarakɛlaw ka kɔrɔbɔli minanw tɛ tiɲɛ ani yɔrɔ labɛnnin ka to lafiya la baarakɛcogo ni marali cogoya bɛɛ la.

Lakanali yɔrɔ wɛrɛw:

O sisitɛmu be ni latangacogo dafaninw ye i n’a fɔ a fɔra cogo min na duguman:

Konsɔli ka kɔrɔtɔko lalɔ butɔn:
O baara kɛtɔ, ni koo dɔw yera minw tɛ bɛn, baarakɛla min be boon kɔnɔ, ale be se ka butɔn digi min be baarakɛminanw lalɔ yɔrɔnin kelen ani ka to u ka lɔyɔrɔ la.

Konsɔli jɔ butɔn:
O baara kɛtɔ, ni koo dɔw yera minw tɛ bɛn, baarakɛla be se ka jɔyɔrɔ digi walisa ka minanw lɔ yɔrɔnin kelen ani ka to u lɔyɔrɔ la.
Kuran tigɛli yɛrɛ yɛrɛ la ani -Circuit surun lakanali sɛgɛsɛgɛli yɔrɔ la:
Ni 220V kuran be tigɛra wala n’a be surunyana, yeelen min be yira, o be faga, motɛri fren be baara kɛ ani minan be to a lɔyɔrɔ la.

Motɛri min be a yɛrɛ latanga ka tɛmɛ doni kan:
O sisitɛmu ka servo motɛri be se ka doni 3 ɲɔgɔn minɛ. Ni bolifɛn y’a ye ko motɛri be doni cayara, a be mankan kɛ, ka motɛri fren don ani minan be to a lɔyɔrɔ la sisan.

Motɛri min be a yɛrɛ latanga ka tɛmɛ-Fɛnteni kan:
Ni bolifɛn y’a ye ko motɛri ka funteni be yɛlɛmana kojugu, a be mankan kɛ, ka motɛri fren don ani minan be to a lɔyɔrɔ la.

Motɛri otomatiki enkoder ka jurumuw latanga:
Ni motɛri be bolila ka tɛmɛ, n’a lɔra wala n’a be gosi kojugu, motɛri b’a ye ko encoder dɔ tiɲɛna, a be mankankɛlan dɔ lawuli, a be motɛri frein don ani minan be to a lɔyɔrɔ la sisan.

Otomatiki bolifɛnw ka doni caman latanga:
Ni bolifɛn ka kuran ka ca kojugu, a be mankankɛlan dɔ lawuli, ka motɛri frein don ani minan be to a lɔyɔrɔ la sisan.

Otomatiki bolifɛnw ka fanga dantɛmɛni latanga:
Ni bolifɛn be fanga sɔrɔ kojugu, a be mankankɛlan dɔ lawuli, ka motɛri fren don ani minan be to a lɔyɔrɔ la sisan.

Mobili min be boli a yɛrɛ ma -Funteni latanga:
Ni bolifɛn ka funteni be yɛlɛma kojugu, a be mankankɛlan dɔ lawuli, ka motɛri fren don ani minan be to a lɔyɔrɔ la sisan.

Lakanali min be dancɛ yɛlɛmayɔrɔ lɔn a yɛrɛ ma:
Ni sɛgɛsɛgɛrikɛyɔrɔ ka yɔrɔ minw be tagama, n’u sera yɔrɔ dɔ la min ka jugu kosɔbɛ, ɔridinatɛri min be bolifɛnw boli ani min be bolifɛnw ladon, olu be tagamacogo tagamasiɲɛw bali ɲɔgɔn fɛ minw be don ɲɛfɛ, o min b’a to mɔgɔw be se ka tagama dɔrɔn ka bɔ yɔrɔ dan na.

Motɛri min be teliya dantigɛ a yɛrɛ ma:
O baara kɛtuma na, ni sɛgɛsɛgɛrikɛlan y’a ye ko teliya tɛmɛna dan na, motɛri fren be baara kɛ ani minan be to a lɔyɔrɔ la.

Motɛri min be teliya a yɛrɛ ma, o latanga:
O baara kɛtuma na, ni sɛgɛsɛgɛrikɛlan y’a ye ko teliya be tɛmɛna dan na, motɛri fren be baara kɛ ani minan be to a lɔyɔrɔ la sisan.

CAN Bus ka kumaɲɔgɔnya jurumuw latangacogo:
O baara kɛtuma na, ni CAN bisi ka kumaɲɔgɔnya yɔrɔ dɔ tiɲɛna, motɛri fren be baara kɛ ani minan be to a lɔyɔrɔ la sisan.

Rezo otomatiki ka kumaɲɔgɔnya filiw latanga:
O baara kɛtuma na, ni sɛgɛsɛgɛrikɛla y’a ye ko réseau ka kumaɲɔgɔnya tiɲɛna, motɛri fren be baara kɛ ani minan be to a lɔyɔrɔ la sisan.

Ɔridinatɛri ka filiw latangacogo min be kɛ a yɛrɛ ma:
O baara kɛtɔ, ni ɔridinatɛri min be baara kɛra, n’a y’a ye ko ɔridinatɛri min be mɔgɔw ɲɛminɛna, o ma jaabili si di, motɛri ka fren be baara kɛ ani o minan be to a lɔyɔrɔ la sisan.

 

Hexapod ye sisitɛmu kɛrɛnkɛrɛnnin ye min be se ka fɛɛn dɔ ka tagamasiɲɛw bɛɛ ladegi yɔrɔ saba- kɔnɔ. A tɔgɔ b’a ka baara yira ka gwɛ: a be hɔɔrɔnya degere wɔɔrɔ di mɔgɔw ma minw be se ka tagama u yɛrɛ ma.

O degere wɔɔrɔ nunu kɔnɔ, bayɛlɛmani hɔɔrɔnya degere saba ani yɛlɛmani hɔɔrɔnya degere saba be yen:

 

 

• Bayɛlɛmani ka hɔɔrɔnya degere saba:

 

1.Heave: Tagamacogo lɔnin Z-axis kan (sanfɛ ni duguma).
2.Sway: Kɛrɛfɛla tagama ka kɛɲɛ ni Y-axis ye (ɲumanfɛla ni kininfɛla).
3.Surge: Tagamacogo min be kɛ X-axis kan (ɲɛfɛ ni kɔfɛ).

 

 

• Hɔɔrɔnya degere saba minw be yɛlɛmayɛlɛma:

 

4. Yaw: Z-axis lamini (ɲumanfɛla ni kininfɛla yɛlɛma).
5. Pitch: Y-axis lamini na (i kunbiri gwan ka taga ɲɛfɛ ani ka kɔfɛ).
6. Roll: A be yɛlɛma ka X-axis lamini (a be yɛlɛma yɔrɔ ni yɔrɔ).

 

6-DOF platform sugu min ka ca, o be baara kɛ ni Stewart Platform ka kɔnfiguration ye, o min ye robo sugu dɔ ye min be baara kɛ ɲɔgɔn fɛ. A kɔnɔfɛn jɔnjɔnw ye:

 

Baara sariyakolo:
O sɛgɛsɛgɛrikɛlan be kuran silinɛri wɔɔrɔ nunu kelen kelen bɛɛ ka janya tigitigi jati ka janya wala ka bɔ kɔfɛ ka kɛɲɛ ni tagama sira ye min b’a fɛ. O silinɛri wɔɔrɔ nunu ka janya n’u ka surunya min be kɛ ɲɔgɔn fɛ, o be sanfɛla yɔrɔ ɲɔndi ani ka sama ɲɔgɔn fɛ, o min be tagamasiɲɛ gɛlɛn min ka ɲi ka kɛ hɔɔrɔnya degere wɔɔrɔ bɛɛ la, o ɲɔgɔnnabɔ. Ɲɛyirali fɛ, walisa ka awiyɔn dɔ ladegi min be yɛlɛla sanfɛ, o min tun be awiyɔn ɲɛminɛ, o tun bena ci di ɲɛfɛla silinɛriw ma u ka yɛlɛma ani kɔfɛla silinɛriw ka kɔsegi.

 

 

 

 

U ka tagamasiɲɛw kosɔn, 6-DOF ka pilatifɔmuw ka ɲi ka kɛ baaraba caaman na:

 

 

• Flight Simulators: O ye porogramu kɔrɔman ye, min be pankurunbolilaw dɛmɛ u ka se ka yɛlɛma, ka jigi, ka yɛlɛmayɛlɛma ani ka pankurun boli.

 

• Mobili boli ladegifɛnw: U be baara kɛ n’u ye walisa ka mobili, tankiw ani kurunw ka baara ladegi, ka mobili ka baara kɛcogo sɛgɛsɛgɛ, ka bolifɛnw degi ani ka porototipiw dilan ɛntɛrɛnɛti kan.

 

• Teyatiriso minw be yɛlɛmayɛlɛma / ɲɛnagwɛko minw be kɛ: I be ɲɛnagwɛko dɔw kɛ minw be mɔgɔ lasun ka miiri, ani u be lamɛnnikɛlaw lasun u ka kɛɲɛ ni filimu ka koow kɛcogo ye.

 

Sɛgɛsɛgɛri ani kɔrɔbɔli:

 

• Vibration Simulation: Dugukoloyɛrɛyɛrɛw, sira gɛrɛntɛw ani fɛn wɛrɛw be nɔɔ min to boonw wala baarakɛminanw kan, o ladegi.

 

• Hakilina ladegi: A be kɛ ka satelitiw, sanfɛkuruw, antɛniw, n’a ɲɔgɔnnaw ka miiriya ladegi dugukolo kan.

 

• Precision Machining & Docking: A be kɛ ka fɛɛnw dilan ani ka ɲɔgɔn lajɛn cogo ɲumanw na minw ka ɲi ka yɛlɛmanibaw kɛ.

 

 

I n’a fɔ aw y’a lɔn cogo min na ka tɛmɛ, kuran ka silindiriw lo ye baarakɛlan jɔnjɔnw ye minw be 6-DOF yɔrɔba dɔ dilan. Platfɔri ka baara (i n’a fɔ, a ka tiɲɛn, a ka teliya, a ka fanga) be bɔ kuran silinɛri minw be baara kɛ, u ka baara la. Ka fara o kan, lakanali baara kɔrɔtaninw (i n’a fɔ dancɛw, doni caya latangali, latangali yɔrɔnin kelen) o fɛɛrɛ gɛlɛn ɲɔgɔn kama, u be bɛn kosɔbɛ ni lakanali labɛncogo ani kuran latangali miiriya ye i tun ye min ɲininga ka tɛmɛ.

 

Tagasogow: LRPT-06D100K-A Doni 100Kg doni gɛlɛn heksapodi, Sinuwa LRPT-06D100K-A Doni Sanfɛ Ka se 100Kg doni gɛlɛn heksapodi dilanbagaw