Multi-degree-of-hɔrɔnya platform (MDF) ye mechatronic minɛn ye min bɛ se ka yɔrɔ lamaga gɛlɛnw kɛ. A bɛ kɛ kosɛbɛ simulation (simulatigɛ) la, izini sɛgɛsɛgɛliw la, furakɛli-labɛnni na, ani ɲɛnajɛko la. A nafa jɔnjɔn bɛ kɛwale fangamaw ladegeli la sigida lakikaw la ni lamaga-lamagali kɔlɔsili ye min bɛ se ka kɛ fɛn caman ye, ka baarakɛlaw dɛmɛ u ka se ka kɔrɔbɔli cogoyaw di u ma minnu bɛ mɔgɔ su ji la walima minnu bɛ se ka kɛ fɛn caman ye. Nin barokun in bɛna kuma MDF jɔyɔrɔw dilanni sariyakolow kan, fɛɛrɛ jɔnjɔnw, fɛɛrɛ danmadɔw, ani baarakɛcogo misaliw kan.
I. Sariyakolo jɔnjɔnw ani MDF plateformew danfara
MDF jɔyɔrɔw bɛ lamaga-lamagali caman sɔrɔ tiɲɛ na yɔrɔ saba-yɔrɔ saba-yɔrɔ la, lamaga-lamagali-yɔrɔ caman minnu bɛ se ka mara u yɛrɛma, olu faralen ɲɔgɔn kan (i n’a fɔ bamanankan bamanankan ni jiginni). Ka da hɔrɔnya degere hakɛ kan, u bɛ se ka tila ka kɛ -degre-hɔrɔnya suguya saba ye (3-DOF) ani suguya wɔɔrɔ-degre-hɔrɔnya (6-DOF). DOF wɔɔrɔ-platifɔmuw ye suguya ye min ka ca kosɛbɛ, u bɛ se ka jiginni saba (X/Y/Z) ani jiginni kɛrɛ saba (roll, pitch, ani yaw) kɔlɔsi waati kelen na.
Ka da drive fɛɛrɛ kan, multi-degree-of-hɔrɔnya platforms tilalen don kosɛbɛ kulu fila ye:
1. Masina jiginni : Olu bɛ u jigi da ji silinda kan, kuran baarakɛminɛnw walima servo motɛriw kan walasa ka ɲɔgɔndan fɛɛrɛ boli. U bɛ doni barikama-taama seko ni jɔli sabatili di, o b’a to u bɛnnen don minɛn girinmanw ma (i n’a fɔ wuluwulu simulatorw).
2. Fɛɛrɛ min bɛ tali kɛ ɲɔgɔn na (i n’a fɔ Stewart ka plateforme): Olu bɛ baara kɛ ni bolo caman lamagacogo ye min bɛ kɛ ɲɔgɔn fɛ walasa ka plateforme jɔyɔrɔ ladilan. U bɛ jaabi ɲumanba di ani jaabi teliya la, wa u bɛ kɛ ka caya ka ɲɛsin jɔyɔrɔfalen tigitigi ma ani ka fɛnw labɛn ka ɲɛ-.
II. Fɛɛrɛ jɔnjɔnw ka ɲɛsin -Degree- caman-Hɔrɔnya Plateformes ma
1. Lamaga-lamagali-minɛnw (Algorithmes).
Gɛlɛya koloma min bɛ sɔrɔ-degree-degɛrɛ caman-hɔrɔnya siratigɛ la, o bɛ sɔrɔ multi-axis coordinated control la. Fɛɛrɛ minnu ka teli ka kɛ, olu ye:
PID kɔlɔsili : O bɛ baara kɛ ni proportionnel-integral-derivative control ye walasa ka actuator kelen-kelen bɛɛ bɔli ladilan, ka jaabi teliya ni sabatili balansi. A bɛnnen don jɔyɔrɔko baara jɔnjɔnw ma.
Inverse kinematics (Kinematiki inversé) : O bɛ inversement (inversement) inferir (inference) kɛ joint angles walima displacements (yɔrɔ-yɔrɔ-ko) ka da laɲini jɔyɔrɔ kan. O bɛ jatebla jatebɔw walima jateminɛ fɛɛrɛw faralen ɲɔgɔn kan (i n’a fɔ Denavit-Hartenberg paramɛtiri fɛɛrɛ) walasa ka ɲɔgɔndan min tɛ sinsinni ye, o ɲɛnabɔ.
Adaptive control ani predictive control : Aw bɛ controle paramètres ladilan ni fanga ye ka kɛɲɛ ni doni caman yeli ye walima kɛnɛma tiɲɛniw walasa ka sistɛmu barika bonya.
2. Sensor Fusion ani Feedback
Lamaga faamuyali tigitigi bɛ tali kɛ multi-sensor data fusion la, i n’a fɔ:
• Encoders : waati yɛrɛyɛrɛ-kɔlɔsili motɛri angle walima linear displacement kan ;
• Inertial Measurement Units (IMUs) : Ka teliya ni kɛrɛnkɛrɛnnenya la teliya kunnafoniw di walasa ka dɛmɛ don hakilinaw jateminɛni na ;
• Laser rangefinders/vision systems : U bɛ kɛ ka kɛnɛma jateminɛ kɛcogo ɲuman-lajɛba kɛ.
Kunnafoni caman-sɔrɔyɔrɔ caman farali ɲɔgɔn kan Kalman filɛri walima hakiliɲagami rezo algorisimuw fɛ, o bɛ se ka filiw dalajɛli dɔgɔya kosɛbɛ.
3. Jagokɛyɔrɔw dilanni ani masinw ɲɛnabɔli
Plateforme ka masinko jɔcogo gɛlɛya ni a girinya cɛmancɛ tilatilali bɛ nɔ bila lamaga kɛcogo la k’a ɲɛsin a yɛrɛ ma. Jateminɛ minnu bɛ kɛ dilancogo la, olu dɔw ye:
• Balan kɛli nɔgɔya ni fanga la: Ka baara kɛ ni fibre carbone composite walima aluminiyɔmu sɔgɔlenw ye;
• Rational drive layout : Misali la, bolow tilatilali simetri la Stewart plateforme kɔnɔ, o bɛ se ka dɔ bɔ torque balanbaliya la ;
• Damping ni vibration reduction design : Ka yɛrɛyɛrɛw damatɛmɛ minnu ka ca -frequency vibrations minnu bɛ control tiɲɛni bali.
III. Baarakɛcogo misaliw ani fɛɛrɛw waleyali
1. Fɔli/Mobili simulatigɛ kalan
Hɔrɔnya-yɔrɔ wɔɔrɔ--hɔrɔnya-yɔrɔ bɛ kalan kɛyɔrɔ lakika di pilotiw walima bolifɛntigiw ma, u kɛtɔ ka nɔ fangamaw ladege i n’a fɔ teliya ni kɔrɔta. Waleya kɛcogo dɔw ye :
• Laɲini lamaga-lamagali siratigɛw labɛnni ka da fizik motɛriw kan (i n’a fɔ MATLAB/Simulink);
• Ka fara ɲɔgɔn kan ni ji-sɔrɔ-sitɛmuw ye walasa ka jiginni ni girinya bɔliba sɔrɔ ;
• Ka jɛɲɔgɔnya tiɲɛni sabati fanga jaabi minɛnw fɛ.
2. Industriw ka fɛn dilannenw sɛgɛsɛgɛli
Mobili tiɲɛni sɛgɛsɛgɛli la walima ɛntɛrinɛti fɛn dilannenw yɛrɛyɛrɛ sɛgɛsɛgɛli la, hɔrɔnya yɔrɔ caman-degere--hɔrɔnya siratigɛw bɛ se ka baarakɛcogo juguw ladege. I n'a fo:
• Ka baara kɛ ni yɛrɛyɛrɛ kɔlɔsili algorisimuw ye walasa ka wulicogo spekterw dilan minnu bɛ bɛn sariyaw ma (i n’a fɔ ISO 16750);
• Ka fɛn dilannenw muɲuli sɛgɛsɛgɛ ni sɛgɛsɛgɛlikɛlanw ye minnu bɛ se ka fɛn caman sɛgɛsɛgɛ.
3. Dɔgɔtɔrɔso ni kɛnɛya sabatili robotiki
Segin-ka-bɔnye kalanyɔrɔw bɛ banabagatɔw dɛmɛ u ka se ka u senw baara kokura ni lamaga-lamagali kɛcogo ye min bɛ kɛ ni wale ye ani min tɛ kɛ. Fɛnɲɛnɛmako jɔnjɔnw ye:
• Ka lamaga-lamagali hakɛ ladilan ka da banabagatɔ ka taamasiɲɛw kan minnu bɛ wele ko electromyographie (EMG);
• Ka kɔlɔsili fɛɛrɛw waleya minnu bɛ bɛn sariya ma walasa ka jogin filanan bali.
IV. Yiriwali siratigɛ nataw
Ni ɲɛtaa kɛra hakililata ni fɛn kuraw fɛɛrɛbɔ la, hɔrɔnya degere caman--hɔrɔnya siratigɛw bɛ ka taa hakili ni minisiriso siratigɛ la. I n'a fo:
Nizɛri filaninw ka fɛɛrɛbɔ daminɛni walasa ka se ka kunnafoni lakika sɔrɔ waati kelen na virtuel-real control;
Ka baarakɛminɛn nɔgɔmanw labɛn minnu sinsinnen bɛ cogoya hakilijagabɔlanw kan;
Ka bonya ka taa forow la minnu bɛ ka bɔ kɛnɛ kan i n’a fɔ sanfɛ-minɛnw ani ji jukɔrɔ robow.
Kuncɛli
Fɛɛrɛ kura minnu bɛ kɛ -degɛrɛ caman-hɔrɔnya siratigɛ la, olu bɛ ka taa a fɛ ka hadamadenw ka -masinw ka jɛɲɔgɔnya ni otomatiki fɛɛrɛ dancɛw gɛlɛya. Kɔrɔsili miiriya, masinw dilanni, ani baarakɛcogo minnu bɛ kɛ dɔnniyaw ni ɲɔgɔn cɛ, olu jɛli jugu fɛ, u seko bɛna bɔ kɛnɛ kan cogoya caman na.
