Umlando omusha

Ukuhlola I-PAUL's Weight Carrying Capacity and Kinematic Model Performance

nge EScholar: Electronic Academic Papers for Scholars4m2025/02/18

Kude kakhulu; Uzofunda

U-PAUL uhlolwe ngezisindo ezingu-55g, 90g, 130g, kanye ne-155g, ebonisa amaqembu amabili ahlukene okusebenza. Ngenkathi imithwalo elula (55g, 90g) ibe nomthelela omncane, imithwalo esindayo (130g, 155g) yanciphisa kakhulu indawo yokusebenza. Uma kuqhathaniswa namanye amarobhothi athambile, i-PAUL isebenza kahle kodwa ingase idinge ukuthuthukiswa ukuze kuthuthukiswe ukunemba komthwalo. Kudingeka ucwaningo olwengeziwe ukuze kunqunywe ukuthi amaphutha akhula ngokuqhubekayo noma ngokucijile kumkhawulo othile wesisindo.

featured image - Ukuhlola I-PAUL's Weight Carrying Capacity and Kinematic Model Performance

Ababhali:

(1) Jorge Francisco Garcia-Samartın, Centre for Automation and Robotics (UPM-CSIC), Polytechnic University of Madrid — Higher Council for Scientific Research, Jose Gutierrez Abascal 2, 28006 Madrid, Spain ([email protected]);

(2) Adrian Rieker, Centre for Automation and Robotics (UPM-CSIC), Polytechnic University of Madrid - Higher Council for Scientific Research, Jose Gutierrez Abascal 2, 28006 Madrid, Spain;

(3) Antonio Barrientos, Centre for Automation and Robotics (UPM-CSIC), Polytechnic University of Madrid - Higher Council for Scientific Research, Jose Gutierrez Abascal 2, 28006 Madrid, Spain.

Ithebula Lezixhumanisi

Abstract kanye 1 Isingeniso

2 Imisebenzi Ehlobene

2.1 Ukusebenza Kwe-Pneumatic

2.2 Izingalo Zomoya

2.3 Ukulawulwa Kwamarobhothi Athambile

3 UPAUL: Ukuklama kanye Nokukhiqiza

3.1 Idizayini yerobhothi

3.2 Ukukhethwa Kwempahla

3.3 Ukukhiqiza

3.4 Ibhange Lokusebenza

4 Ukutholwa Kwedatha kanye nokulawula i-Open-Loop

4.1 Ukusethwa kwe-Hardware

4.2 Uhlelo Lokuthwebula Umbono

4.3 Ukukhiqizwa Kwesethi Yedatha: Amamodeli Asekelwe Kuthebula

4.4 I-Open-Loop Control

5 Imiphumela

5.1 Inguqulo yokugcina ye-PAUL

5.2 Ukuhlaziywa kwendawo yokusebenza

5.3 Ukusebenza Kwamamodeli Asekelwe Ethebula

5.4 Imilingo yokugoba

5.5 Izivivinyo Zokuthwala Isisindo

6 Iziphetho

Ulwazi Lwezimali

A. Kwenziwa Ukuhlolwa Nezinkomba

5.5 Izivivinyo Zokuthwala Isisindo

Ekugcineni, umthamo womthwalo werobhothi kanye nokusebenza kwemodeli ye-kinematic kwahlolwa futhi idatha yaqoqwa ku-vacuum, ngemithwalo ehlukene. Ngale njongo, into efana namalunga phakathi kwamasegimenti, nayo ephrintwe ku-PLA, yanamathiselwa erobhothini futhi kwafakwa izisindo zensimbi ezihlukene kulo. Idivayisi okukhulunywa ngayo ingabonwa kuMfanekiso 20

Lokhu kuhlola kuhlanganisa ukuyisa uPAUL amaphuzu angu-10 ahlukene endaweni yakhe yokusebenzela nokuqhathanisa isikhundla afinyelele kuso nesikhundla abengafinyelela kuso ukube wayengenasisindo. Ngakho-ke ukuqhathanisa kwenziwa kusetshenziswa imodeli ye-kinematic yangaphambili, ngenxa yokunemba kwayo okukhulu. Izisindo ezine ezihlukene zahlolwa: 55, 90, 130 kanye ne-155 g. Lawa manani afana nalawo asetshenziswa kweminye imisebenzi emkhakheni ukuze athambe ngokuphelele

amarobhothi -ngaphandle kwama-hybrid, okuthi, vele, anesisindo esikhulu kakhulu sokuthwala isisindo- [47, 61].

Umfanekiso 21 ukhombisa imiphumela etholiwe. Amaphutha esilinganiso ngokulandelana kwawo angu-5.11, 4.40, 8.61 kanye no-10.01 mm. Kusukela kule datha kungatholakala ukuthi, kude nokwanda kancane kancane ngesisindo, kunezigaba ezimbili: eyodwa ehlanganisa ukuhlolwa ngemithwalo engu-55 no-90 g kanye nenye ehlanganisa lezo ze-130 kanye ne-155 g. Ngamanani aphansi omthwalo, imodeli ye-PAUL ibikezela amanani anamaphutha afana nalawo atholwe ngokuthintana ne-kinematics eqondile etafuleni elitholwe ngaphandle kwezisindo. Kwezinye izimo, imiphumela iba mibi ngokusobala.

Kungabonakala futhi ukuthi amanani amaphutha aphansi, noma kunjalo, afana kakhulu kuzo zonke izimo. Lokhu kungenxa yokuthi, ezindaweni eziseduze nendawo ephakathi nendawo yokusebenza kwayo, i-manipulator iyakwazi ukuzibeka ngephutha elincane kakhulu, kungakhathaliseki ukuthi isisindo esithwalayo. Lokho okukhiqizwa umthwalo, ngakho-ke, akukhona ukwanda okuhlelekile kwephutha kodwa ukwehla kwendawo yokusebenza, njengoba u-PAUL engenawo amandla okufinyelela ezindaweni ezikude kakhulu nesikhungo ngesisindo esengeziwe.

Ithebula lesi-5 liqhathanisa ukusebenza kuka-PAUL nalokho okuzuzwe kweminye imisebenzi. Nakuba sikhona isikhala sokuthuthukiswa, imiphumela etholwe lapha ingcono kunaleyo yokulawula iluphu evaliwe ye- [47], lapho iphutha elimaphakathi elitholiwe lingu-2 cm, kanye naleyo ye-manipulator enentambo ye- [61]. Nakuba lokhu kwakamuva kubonakala kuzimele emthwalweni, u-PAUL ubona iphutha layo likhula ngesisindo esikhulayo, okubonakala kubonisa ukuthi, ezisindweni eziphakeme, u-PAUL ngeke asebenze kahle ngempela.

Zimbili izici ezisazohlaziywa. Ngakolunye uhlangothi, ukubona ukuthi phakathi kuka-90 no-130 g ukwanda kwephutha kuqhubeka noma uma, ngokuphambene nalokho, kukhona iphuzu elihlukanisa ngokucacile amaqembu amabili. Ngakolunye uhlangothi, kuyodingeka futhi ukutadisha ukuthi ukuthuthukiswa kokunemba lapho kungenalutho kuzothinta kanjani ukunemba uma kulayishwa: ukuthi irobhothi lizohlala linembile noma lawa maphutha angeke anciphe.