Iindaba

I-DSPOWER yaqala ngo-2013 kwaye ngumenzi ogxile kuphando kunye nophuhliso, ukuveliswa kunye nemfundo yeerobhothi servos,iirobhothi ezikrelekrele servos, ii-servos zedrone, kunye nezixhobo ezinxulumeneyo.

Ukususela ekusekweni kwayo, sigxininise kwiimfuno zeerobhothi kunye ne-drone servos, kwaye ziyilelwe kwaye zaphuhliswa iimveliso ze-servo ezifanelekileyo kubasebenzisi berobhothi.

Namhlanje, siza kwabelana ngezisombululo zethu zengalo yerobhothi.

Ingalo yerobhothi yenza ulawulo olushukumayo, njengokutofa umphefumlo kumathambo entsimbi, kwaye i-servo yinkosi echane ngendlela emangalisayo. Kwiworkshop ye-R&D ye-DSPOWER, yonke imihla sinokubona ezo nxalenye ziguqulwa ukusuka kwimizobo ukuya kubadanisi abaphilayo.

Namhlanje, ndifuna ukukuxelela indlela i-servo eyenza ngayo ingalo yerobhothi isebenze ngokuguquguqukayo njengengalo yomntu, ebandakanya zombini iigiya ezichanekileyo zokuhlangana kunye kunye nokucwangcisa okukrelekrele.

Indlela iServo eLawula ngayo iAngile yeArm yeRobhothi

I-servo ibandakanya inkqubo yempendulo ekrelekrele kakhulu. I-potentiometer ijonga indawo yeshaft yokuphuma ngexesha lokwenyani xa ifumana isignali yolawulo. Emva kokuthelekisa le ndawo kunye nendawo ekujoliswe kuyo, ngokukhawuleza ilungisa ukujikeleza kwemoto.

Oku kufana nokuchukumisa into ngesandla ngelixa ukhusela amehlo akho, apho iminwe yakho iqhubeka isenza uhlengahlengiso lwemizuzu de kufike indawo echanekileyo. I-servo esiyilwe ngokucokisekileyo ukucoca iirobhothi isebenzisa unxibelelwano lwe-TTL olulandelelanayo, ivumela ikhonkco ngalinye ukuba lichaze ngokuzimeleyo idatha yendawo.Oku kuqinisekisa ukuba xa ingalo yerobhothi ihleli kwi-angle ebekwe ngaphambili, impazamo ingaphantsi kwe-0.5 degrees.

Kwiinkqubo ezisebenzayo, ilungu ngalinye kwingalo yerobhothi kufuneka lilungelelanise kwii-engile ezahlukeneyo. Ngokomzekelo, xa ubamba indebe edibeneyo, i-servo yesandla kufuneka ihlawule i-15 degree tilt, ngelixa i-shoulder servo igcina i-30 degrees yenkxaso.

Olu lungelelwaniso lwee-angle ezininzi lufuna ukuba i-servos iphendule ngokukhawuleza. Sisebenzisa inkqubo yentsimbi yentsimbi enokugcina uzinzo nangaphantsi kwe-85 kgf.cm yetorque, njengokongeza izihlunu ezikwaziyo ukudinwa kwingalo yerobhothi.

Kutheni kuyimfuneko ukuba ii-servos ezininzi zisebenze kunye?

I-servo enye inokufezekisa kuphela ukuguquka okulula, kodwa ingalo yerobhothi kufuneka isebenze ngokugqibeleleyo kwesandla somntu. Yiba nomfanekiso-ngqondweni uphethe usiba nokubhala; esi senzo sifuna intshukumo elungelelanisiweyo yesihlahla, ingqiniba, kunye negxalaba.

Kwi-axis robotic vacuum cleaner emihlanu ephuhliswe liqabane lethu, inqanaba elingaphambili i-servos edibeneyo ithwala umthwalo, i-mid stage joint servos ilawula intshukumo yokwandisa, kwaye i-servos yesigaba sokugqibela yenza iintshukumo ezilungileyo. Olu lwahlulo lwabasebenzi lufana ne-symphony orchestral ensemble phakathi kwezixhobo ezahlukeneyo.

Kwinkqubo yee-servo ezininzi, ulawulo lwexesha lubaluleke kakhulu. Sakhe saba nemeko apho ingalo yerobhothi yajijitheka ngelixa ibambe iqanda. Kamva safumanisa ukuba oku kwakungenxa yokulibaziseka kwe-10 millisecond kwimpendulo yesandla kunye ne-servos yomnwe. Ngokuphucula ukuhanjiswa komqondiso we-PWM, sakwazi ukufezekisa ulungelelwaniso olugqibeleleyo lwazo zonke ii-servos, njengekwayara eqeqeshiweyo. Ngoku, le nkqubo inokulibamba ngokutyibilikayo iqanda elikrwada ngaphandle kokuliqhekeza.

Ngaba i-servo torque iyichaphazela njani ingalo yerobhothi?

Oku kufana nemvakalelo yokungcangcazela kwengalo yomntu.

Nangona kunjalo, i-torque ephezulu ayisoloko ingcono. Itorque egqithisileyo yonyusa ukusetyenziswa kwamandla kwaye inokukhokelela kwizakhiwo ezinkulu. Iinkonzo esizilungiselele iirobhothi zedesktop zinakoukufikelela kwimisebenzi ebuthathaka kunye ne-torque ye-6.3 kgf.cm. Isitshixo kukutshatisa itorque kunye neemfuno zomthwalo wengalo yerobhothi, njengaxa ukhetha i-injini yemoto, akusoloko kufuneka ulandele amandla aphezulu ehashe.

Indlela yokukhetha iModeli yeRobhothi yeArm Servo

Xa ukhetha imodeli ye-servo, qwalasela imeko yokusebenza kwerobhothi. Kwizicelo ezifuna ukuqala rhoqo kunye nokuyeka, i-servo yedijithali enomsebenzi wokuqhawula iyacetyiswa. Ityala elinye lomthengi esidibene nalo libandakanya umgca wemveliso ozenzekelayo owawufunairobhothi ingalo ukufezekisa i-20 yokumisa ngokuthe ngqo ngomzuzu. Iinkonzo ze-analog eziqhelekileyo ziya kubandezeleka ngenxa yeempazamo ezongezelekayo, ngelixa ii-servos zedijithali, ezinezinga eliphezulu lokuhlaziya, zilungisa le ngxaki ngokugqibeleleyo.

Ukulinganisa imilinganiselo nako kubalulekile. Kwixesha elidlulileyo, abanye abathengi babeka ii-servos eziqhelekileyo kwiingalo zerobhothi ezihlangeneyo, okukhokelela ekupheliseni ubushushu. Emva koko siphuhlise i-servo eyi-26mm gripper eyilwe ngokukodwa, eyi-40% encinci ngelixa igcina i-torque ye-3 kg·cm. Kufana nokuthungela impahla yerobhothi—kufuneka uyivumele ihambe ngokukhululekileyo ngaphandle kokukhululeka kakhulu.

Yintoni umahluko kwiiprothokholi zolawulo lwe-servo?

Iprotocol ye-PWM, efana ne-conductor yokubetha, idlulisela imiyalelo nge-pulse ububanzi, ngelixa i-TTL ye-serial protocol, njengencoko, inokudlulisa iiparitha eziyinkimbinkimbi. Kwilebhu ye-DSPOWER, sihlala sithelekisa ezi protocol zimbini.

I-PWM ilungele indawo elula yokulawula indawo, njengokulayita okanye ukucima isibane, ngelixaI-TTL inokufumana ngaxeshanye imiqondiso emininzi yengxelo, njengendawo, iqondo lobushushu, kunye nangoku.

Okwangoku, ziya zisanda iingalo zerobhothi zamkela iiprothokholi ezixutyiweyo, ezinje ngeprojekthi yethu yebhayonikhi yengalo yerobhothi. Iintshukumo ezisisiseko zisebenzisa ulawulo lwe-PWM ukuqinisekisa ukusebenza ngexesha lokwenyani, ngelixa ukulungiswa kakuhle kunye ne-TTL kuhambisa iiparamitha ezineenkcukacha.

Oku kufana nokuqhuba imoto, apho kufuneka usebenzise iipedali ukulawula isantya kunye nedeshibhodi ukujonga isimo. Olu lungelelwaniso olubhetyebhetye luvumela iingalo zerobhothi ukuba ziqhelane nemeko yokusebenza eyandayo.

Indlela yokuphucula ukuchaneka koLawulo lweServo

Ukuphucula ukuchaneka kufuna zombini i-hardware kunye nesoftware. Kwi-hardware, sisebenzisa i-0.1mm echanekileyo yomatshini wezixhobo zokunciphisa ukuhanjiswa kwe-backlash. Umthengi uxelileukushukuma okuzingisileyo kwe-2mm ekupheleni kwengalo yerobhothi. Emva kophando, safumanisa ukuba oku kubangelwa yigear meshing backlash.

Ngokutshintsha iigiya ngesakhiwo se-helical gear, umcimbi wasonjululwa. Oku kufana nentshukumo yokubukela: ukuchaneka kwesixhobo ngasinye kuchaphazela ukugcinwa kwexesha lonke.

Ibaluleke ngokulinganayo isoftware. Inkqubo yethu yokuchasa ukushukuma iqikelela inertia yentshukumo yengalo yerobhothi kwaye iyibuyekeze kwangaphambili. Ngokomzekelo, ngexesha lokumisa okungxamisekileyo, ivelisa umqondiso obuyela umva ukuze kupheliswe ukudubuleka okubangelwa kukungashukumi, kanye njengokuba umqhubi onamava eqhoboshela isiqhoboshi ukuze aqinisekise ukuma okumtyibilizi nokungaphazanyiswa.