Ururimi 
Ikwirakwizwa ryihuse rya sisitemu yigenga mu nganda, ubucuruzi, n’ubushakashatsi byibanze ku myubakire yimiterere yimikorere. Mugihe ubwenge bwa robo bwubwenge bukora nkubwonko bwabwo, sisitemu yimikorere nuburyo bwumubiri bunyuzamo nisi. Kugera kumikorere yibikorwa bya robot bisaba gusobanukirwa byimbitse gukorana hagati yimodoka ya disiki hamwe nubutaka-butumanaho. Guhitamo iboneza bikwiye ntabwo ari ikibazo cyubunini gusa; ni imyitozo yo kuringaniza umuriro, guterana, hamwe nuburinganire bwimiterere. Aka gatabo karasesengura ibintu byingenzi bigira uruhare mugutezimbere robotike, kwemeza ko imashini yawe ishobora kugendana ibidukikije bigoye kandi byuzuye.
Uruhare Rwingenzi rwa Robo Yikurikiranya Yumuziga Mugukora neza
Mugushushanya urubuga rukurikiranwa, ibice byimbere biyobora kandi bigateza imbere sisitemu ningirakamaro nkuko bikandagira ubwabyo. Uwiteka ibiziga bya robot —zirimo ibinyabiziga bitwara ibinyabiziga, abadafite akazi, hamwe ninziga zo mumuhanda - imikorere nkinkunga ya skeletale kuri sisitemu ya lokomisiyo yose. Uruziga rwo gutwara, byumwihariko, rugomba kuba rwarakozwe neza kugirango rushyizwe hamwe na geometrike yimbere yumurongo. Niba umwirondoro w'amenyo ya spocket udahuye neza na drake yimodoka, ibivamo bivamo bitera kwihuta no gutakaza ingufu zikomeye.
Muri robotike ikora cyane, ibiziga bidafite akazi ninzira bigira uruhare runini mugukomeza "guhagarika umutima." Inzira irekuye cyane "izatera" cyangwa itandukane mugihe cyihuta cyihuta, mugihe inzira ifunze cyane itera umutwaro urenze kuri moteri no gutwara. Urwego rwumwuga ibiziga bya robot Byashizweho kenshi hamwe nuburyo bwo guhuza imbaraga cyangwa sisitemu yo guhagarika yemerera inzira guhuza na terrain. Uku guhuza n'imihindagurikire yerekana ko ubuso bunini buguma buhura nubutaka igihe cyose, butanga ituze rikenewe kugirango sensor sensor ikoreshwe kugirango ifate amakuru yukuri mugihe robot iri kugenda.
Kumenya Shingiro rya Robo Track Geometrie
Intsinzi ya porogaramu igendanwa itangirira ku kibaho cyo gushushanya hamwe na igishushanyo mbonera cya robot . Iki cyiciro kirimo ibirenze guhitamo uburebure n'ubugari; bisaba kureba muri rusange ubutumwa bugenewe robot. Kurugero, igishushanyo "kirekire-gitanga" gitanga ituze ryiza ryo kuzamuka ingazi cyangwa kwambuka imyobo, mugihe igishushanyo "kigufi" cyangwa "inyabutatu" gitanga uburyo bwiza bwo kuyobora ahantu hafunganye, mu nzu. Uburinganire bwa geometrike bugena "umuvuduko wubutaka" wa robo, ni igipimo gikomeye cyimashini zikora kubutaka bworoshye cyangwa hejuru yoroheje.
Byongeye kandi, yatekerejwe neza igishushanyo mbonera cya robot igomba kubara imyanda y'ibidukikije. Mu bihe by'ibyondo cyangwa umusenyi, inzira idakozwe neza irashobora guhinduka "gufunga," bigatuma abantu barwanya ubukana ndetse amaherezo ya jam. Ibishushanyo bigezweho bikubiyemo ibintu byo kwisukura, nkibyambu byo kwimura ibyondo hamwe nu mfuruka zifatika zisanzwe zisohora amabuye n'umwanda uko inzira izunguruka. Mugushira imbere ibyo bintu byubukanishi mugice cyogushushanya, abashakashatsi barashobora kwemeza ko robot ikomeza gukora mubihe byahagarika ibinyabiziga gakondo bifite ibiziga.
Kuramba kwa Tank Treads kuri Robo Mubutaka bukabije
Iyo robot yoherejwe mukarere k’ibiza cyangwa ahahoze hubakwa, bisaba urwego rwo gukomera gusa tank ikandagira robot irashobora gutanga. Ubu buryo bwa "continu loop" butuma imashini itwara neza umuhanda wayo, gukemura icyuho no gutsinda inzitizi zishobora gutega uruziga. Inyungu yibanze yo gukandagira tank ni ubushobozi bwabo bwo gukwirakwiza uburemere bwa robo ahantu hanini. Ibi birinda imashini kurohama muburyo bworoshye nka shelegi, umucanga, cyangwa ibyondo byimbitse, bigatuma ihitamo neza kubushakashatsi bwubutaka bwose.
Kuramba kwa tank ikandagira robot iboneka kandi mubyo barengereye. Kuberako ikirenge kigizwe numurongo mugari aho kuba ahantu hamwe, robot irashobora kugumana umutwe wacyo nubwo igice cyikandagira cyangiritse cyangwa kigatakaza gufata ku rubura. Uku kwizerwa niyo mpamvu sisitemu ikurikiranwa aribisanzwe mubikorwa bya gisirikare kandi bifite imigabane myinshi. Muguhitamo iboneza rya tanki, abashoramari bashora imari muri sisitemu yimikorere ishobora kurokoka ibibazo bitateganijwe kwisi, bakareba ko robot ishobora kurangiza inshingano zayo hatitawe kumiterere yubuso.
Guhanga Ibikoresho: Ibyiza bya Rubber Track
Mu gihe ibinyabiziga byakurikiranwe mu mateka byashingiraga ku byuma biremereye, bisakuza, kandi byangiza, inganda za robo zigezweho zerekeje imbere rubber robot . Kwimuka kuri elastomers ikora cyane byahinduye uburyo robot zigenda zinyura mumbere no hanze. Iyi nzira yakozwe hifashishijwe ibirunga byinshi, akenshi ikubiyemo imigozi yimbere cyangwa fibre ya aramid kugirango itange imbaraga zingutu zikenewe kugirango wirinde kurambura munsi yumutwaro.
Inyungu za rubber robot ni impande nyinshi. Ubwa mbere, batanga vibration nziza cyane, ningirakamaro mukurinda ibyuma bya elegitoroniki byoroshye kuri LiDAR na kamera zisobanura cyane. Icya kabiri, "ntibashyingiranwa," bivuze ko bashobora kugendagenda mububiko bwuzuye neza badasize imirongo cyangwa kwangiza hejuru. Icya gatatu, imiterere isanzwe ya reberi ituma inzira "ifata" hejuru yuburyo bworoshye nkicyuma cyangwa amabati yatose. Uku guhuriza hamwe kwiba, kurinda, no gukwega bituma reberi iba ibikoresho byiza kubenshi mubisabwa byigenga bigezweho, kuva kumarondo yumutekano kugeza kubitaro bitanga ibitaro.
Kwinjizamo Sisitemu ya Robo Yuzuye ya Sisitemu yo gukora neza
Kurangiza, intego yo guhuza ibikorwa ni ukwemeza ko inzira ya robo ikora nk'iyaguka ridakuka ry'imigambi ya mashini. Ibi bisaba guhuza neza ibice byose byaganiriweho. Ibikoresho bya rubber robot bigomba guhuzwa nubushyuhe bukora bwibidukikije; umwirondoro w'amenyo ya ibiziga bya robot bigomba guhuzwa nikibanza cyo gukandagira; muri rusange igishushanyo mbonera cya robot igomba koroshya robot yihariye ikenera.
Iyo ibyo bintu bihujwe neza, ibisubizo ni urubuga rwa robo rwumva urumuri kuri "ibirenge" nubwo bitwaye umutwaro uremereye. Igenda hamwe nubuntu butuje, bukora neza buhakana ubushobozi bwabwo bukomeye. Mugushimangira guhitamo inzira iburyo ninziga, uba ukora ibirenze kubaka gari ya moshi; urimo gushiraho umusingi wubwigenge bwizewe. Robo yawe yaba irimo gushakisha ubujyakuzimu bwubuvumo cyangwa irondo kumuhanda wumujyi, ubwiza bwumuhanda wabwo buzaba aribwo bwa nyuma bwo gutsinda. Mwisi yisi irushanwa ya robo, kugenda hejuru ntabwo arikintu gusa - nikintu cyibanze gisabwa cyemerera ikoranabuhanga kuva muri laboratoire no mubuzima bwumukoresha.
Ikwirakwizwa ryihuse rya sisitemu yigenga mu nganda, ubucuruzi, n’ubushakashatsi byibanze ku myubakire yimiterere yimikorere.
