mechanical manipulator Cov pob qij txha (tseem hu ua axes) yog cov khoom txav txav tau ntawm cov neeg hlau uas ua rau muaj kev sib txheeb ntawm cov kev sib txuas uas nyob ib sab.
Yuav ua li cas cov pob qij txha siv hauv cov neeg hlau?
Rotational Joint: Rotational joint kuj tuaj yeem sawv cev ua R –Joint. Hom no yuav tso cai rau cov pob qij txha txav mus rau hauv cov lus tsa suab raws li axis, uas yog ntsug rau ntawm caj npab axes.
Yuav ua li cas yog orthogonal sib koom hauv robotics?
Orthogonal Joint: O – sib koom ua ke yog ib lub cim uas qhia txog kev sib koom ua ke. Qhov kev sib koom tes no yog zoo ib yam li cov kab sib koom ua keyog li nws muab cov lus tsa suab. Txawm li cas los xij, cov kev tawm tswv yim thiab cov khoom sib txuas yog perpendicular rau ib leeg.
Dab tsi yog qhov sib koom ua ke ntawm cov neeg hlau?
Cov kev sib koom ua ke txhais qhov kev teeb tsa ntawm tus tswj hwm los ntawm kev qhia qhov chaw ntawm txhua qhov sib koom ua ke. Qhov kawg effector coordinates txhais txoj hauj lwm thiab kev taw qhia ntawm qhov kawg effector.
Kev sib koom tes yog dab tsi?
A revolute joint (tseem hu ua tus pin sib koom lossis pob khawm sib koom) yog ib-degree-of-freedom kinematic khub siv nquag hauv cov tshuab thiab tshuab. Qhov sib koom ua ke txwv txoj kev txav ntawm ob lub cev mus rau kev sib hloov ntshiab raws ib qho axis. … Ib qho kev sib koom ua ke feem ntau yog ua los ntawm tus pin lossis knuckle sib koom ua ke, los ntawm cov kabmob teb.
