Mubice bigenda bihindagurika byimashini, ibikoresho bito bitera ingaruka nini! Muri uyu murima, icyahindura amategeko yimikino ni chassis ikurikiranwa. Kwinjiza chassis ikurikiranwa mumashini yawe mato birashobora kongera imikorere yawe:
1. Shimangira ituze: Chassis ikurikiranwaitanga urwego rwo hasi rwuburemere, rwemeza ituze kubutaka butaringaniye. Ibi bivuze ko no mubidukikije bigoye, imashini zawe zirashobora gukora neza kandi neza.
2. Kunoza imikorere:Chassis ikurikiranwa irashobora kugenda kubutaka bworoshye kandi bworoshye, bigafasha imashini zawe nto kugera ahantu ibinyabiziga bifite ibiziga bidashobora kugera. Ibi bifungura uburyo bushya mubwubatsi, ubuhinzi, no gutunganya ibyiza nyaburanga.
3. Kugabanya umuvuduko wubutaka:Chassis ikurikiranwa ifite ikirenge kinini nogukwirakwiza uburemere bumwe, kugabanya kwivanga kubutaka. Ibi ni ingirakamaro cyane kubidukikije byoroshye, bifasha kubungabunga ubusugire bwubutaka.
4. Imikorere myinshi:Chassis ikurikiranwa irashobora kwakira imigereka itandukanye, bigatuma ikora imirimo itandukanye - kuva gucukura no guterura kugeza gutwara ibikoresho.
5. Kuramba:Chassis ikurikiranwa yabugenewe kugirango ihangane n’ibihe bibi, yongere igihe cyayo, igabanye amafaranga yo kubungabunga, kandi igabanye igihe cyo gutaha.
Inzira ya chassis rwose izana imikorere igaragara no kwagura porogaramu kuri robo nto, cyane cyane mubijyanye no guhuza n'imikorere mubidukikije bigoye, bishobora gufatwa nk "umugisha". Hano haribyingenzi byingenzi nibikorwa bifatika byerekana inzira ya chassis ya robot nto:
1. Kurenga imipaka yubutaka no kwagura ibintu
** Inzira igoye passInzira ya chassis yongerera aho ihurira kandi ikwirakwiza igitutu kugirango robot ntoya ishobore gufata neza ibidukikije nkumucanga, ibyondo, urutare, urubura, ndetse nintambwe za robo gakondo zifite ibiziga bigoye kwinjira. Urugero:
-Imashini zo gutabara ibiza: Kurenga inzitizi ahantu hasenyutse cyangwa yaguye kugirango ukore imirimo yo gushakisha no gutabara (nka robot yo mu Buyapani Quince).
-Imashini zubuhinzi: Kugenda neza mubutaka bworoshye kugirango urangize kubiba cyangwa gutera.
** Kuzamuka ahantu hahanamye hamwe nubushobozi bwo kwambuka inzitizi:Gukomeza gufata inzira ya chassis ituma ishobora kuzamuka ahantu hahanamye ya 20 ° -35 ° no kurenga inzitizi za 5-15cm, bigatuma ikorerwa ubushakashatsi mu murima cyangwa mu gisirikare.
2. Kuzamura ituze hamwe nubushobozi bwo kwikorera
** Hagati yo hasi yubushakashatsi
Chassis ya track isanzwe iri munsi ya chassis yibiziga kandi ifite centre ihamye yububasha, bigatuma iba ikwiriye gutwara ibikoresho bisobanutse neza (nka LiDAR, amaboko ya robo) itabanje kurenga.
** Ubushobozi bwo gutwara ibintu byinshi
Chassis ntoya irashobora gutwara imizigo ya 5-5000kg, ihagije kugirango ihuze sensor zitandukanye (kamera, IMU), bateri, nibikoresho byo gukora (nk'imashini zikoresha imashini, ibyuma byerekana inenge).
3. Kuzuza ibisabwa byihuse kandi byihuse
** Kugenzura neza
Umuvuduko muke hamwe na torque ndende iranga inzira ikwiranye na ssenariyo isaba kugenda neza, nka:
- Igenzura ryinganda: Kugenda gahoro mu miyoboro ifunganye cyangwa ahantu hagenewe ibikoresho kugirango umenye ibice cyangwa ubushyuhe budasanzwe.
--Ubushakashatsi bwa siyansi yubushakashatsi: Icyegeranyo gihamye cyubutaka bwigana bwa Martiya (bisa nigitekerezo cya NASA cya rover).
** Igikorwa cyo kunyeganyega gake
Guhora uhura nubutaka kumuhanda bigabanya ibibyimba kandi birinda ibice bya elegitoroniki neza guhungabana.
4. Guhuza muburyo bwubwenge kandi bwubwenge
** Kwagura byihuse
Inzira nyinshi z'ubucuruzi (nka Husarion ROSbot) zitanga intera isanzwe, ishyigikira ihuzwa ryihuse rya ROS (Sisitemu ikora ya robo), SLAM (icyarimwe icyarimwe na Mapping) algorithms, modul ya 5G y'itumanaho, nibindi.
** Guhuza n'iterambere rya AI
Chassis ya Track ikoreshwa kenshi nkurubuga rwiterambere rwa robo zigendanwa, zifatanije na sisitemu yo kwiga yimbitse (nko kumenya intego, gutegura inzira), ikoreshwa mumarondo yumutekano, ububiko bwubwenge, nibindi.
5. Ibibazo bisanzwe byo gusaba
** Gutabara ibiza
Imashini y’Abayapani FUHGA ikoresha inzira ya chassis mu gushakisha abarokotse mu matongo ya nyuma y’umutingito no kohereza amashusho nyayo binyuze ahantu hafunganye.
** Ubushakashatsi bwa siyansi
Imashini za siyansi yubushakashatsi bwa Antaragitika zifite chassis nini-nini kugirango ikore imirimo yo gukurikirana ibidukikije kubutaka bwuzuye urubura.
** Ubuhinzi bwubwenge
Imashini za robo zo mu murima wimbuto (nka robotike zeze) zikoresha chassis ya track kugirango yigenga yigenga mu busitani butoshye, igera ku gutoranya imbuto n'indwara no kumenya udukoko.
** Uburezi / Ubushakashatsi
Chassis ifungura isoko nka TurtleBot3 ikoreshwa cyane muri laboratoire za kaminuza muguhinga impano mugutezimbere robot.
6. Icyerekezo cy'iterambere ry'ejo hazaza
** Kuremerera no gukoresha ingufu nke
Koresha karuboni fibre cyangwa ibikoresho bishya bigabanya kugabanya ibiro no kwagura ibikorwa.
** Sisitemu yo guhagarika ibikorwa
Hindura impagarara z'umuhanda cyangwa uburebure bwa chassis mu buryo bworoshye kugirango uhuze n'ubutaka bukabije (nk'ibishanga cyangwa kuzamuka guhagaritse).
- ** Igishushanyo cya Bionic
Wigane inzira zoroshye zigana urujya n'uruza rw'ibinyabuzima (nk'inzoka cyangwa udukoko twangiza) kugirango urusheho kunoza imiterere.
Agaciro shingiro ka crawler chassis
Chassis ya crawler, binyuze mubushobozi bwayo "gukwirakwiza isi yose + ifite umutekano muke", yakemuye ikibazo cyimigendere yimashini ntoya mubidukikije bigoye, ibafasha kuva muri laboratoire bakajya kwisi kandi bakaba "impande zose" mubice nko gutabara ibiza, ubuhinzi, ingabo, ninganda. Hamwe niterambere ryibikoresho siyanse nubuhanga bwo kugenzura ubwenge, chassis ya crawler izakomeza gutwara robot nto igana ku iterambere ryiza kandi ryubwenge.