1. Ubume kunye nokuhanjiswa kwamalungu
(1) Ukusasazwa kwamalungu abantu
Ekubeni i-robot ye-Tesla yangaphambili yaqaphela i-28 degrees yenkululeko, elingana ne-1/10 yomsebenzi womzimba womntu.
La maqondo angama-28 enkululeko asasazwa ikakhulu kumzimba ongasentla nasezantsi. Umzimba ophezulu uquka amagxa (i-6 degrees of freedom), i-elbows (4 degrees of freedom), izihlahla (2 degrees of freedom) kunye nesinqe (2 degrees of freedom).
Umzimba ongezantsi uquka i-medullary joints (2 degrees of freedom), amathanga (2 degrees of freedom), amadolo (2 degrees of freedom), amathole (2 degrees of freedom) kunye namaqatha (2 degrees of freedom).
(2) Uhlobo kunye namandla amalunga
Ezi zidanga ze-28 zenkululeko zinokuhlelwa zibe ngamacandelo ajikelezayo kunye nomgca. Kukho i-14 ye-rotary joints, eyahlulahlulwe yaba ngamacandelwana amathathu, ahlula ngokwamandla okujikeleza. Amandla amancinci adibeneyo ajikelezayo yi-20 Nm esetyenziselwa ingalo: i-110 izelwe i-9 esetyenziswe esinqeni, kwi-medulla kunye nehlombe, njl. Kukho kwakhona i-14 ye-linear joints, eyahlulwe ngokwamandla. Awona malungu amancinci amancinci anamandla eenkabi ezingama-500 kwaye asetyenziswa esihlahleni; Kusetyenziswa iinkomo ezingama-3900 emlenzeni; kunye nama-8000 eenkomo asetyenziswa ethangeni nasedolweni.
(3) Isakhiwo somdibaniso
Ulwakhiwo lwamalungu lubandakanya ii-motor, i-reducers, izinzwa kunye neebheringi.
Amalungu ajikelezayo asebenzisaiinjinikunye nezinciphisi ze-harmonic,
kunye nezisombululo ezilungiselelwe ngakumbi zinokufumaneka kwixesha elizayo.
Amalungu omgca asebenzisa iimotor kunye nebhola okanyeizikrufu zebholanjengabanciphisi, kunye nabenzi boluvo.
2. IiMoto kwiijoyinti zerobhothi ezingabantu
Iinjini ezisetyenziswa kumalungu ikakhulu ziinjini ze-servo kuneenjini ezingenafreyim. Iimotor ezingenafreyimu zinenzuzo yokunciphisa ubunzima kunye nokususa iinxalenye ezongezelelweyo ukufezekisa i-torque enkulu. I-encoder isitshixo sokulawula i-loop evaliweyo ye-motor, kwaye kusekho umsantsa phakathi kwekhaya kunye nelinye ilizwe ekuchanekeni kwe-encoder. Izivamvo, izivamvo zokunyanzeliswa zifuna ukuva amandla ngokuchanekileyo ekugqibeleni, ngelixa abenzi boluvo bendawo kufuneka bayive ngokuchanekileyo indawo yerobhothi kwindawo enomacala amathathu.
3. Ukusetyenziswa kwe-reducer kumalungu erobhothi e-humanoid
Ekubeni yangaphambili isetyenziswa ikakhulu i-harmonic reducer, ebandakanya ukuhanjiswa phakathi kwevili elithambileyo kunye nevili lentsimbi. I-Harmonic reducer iyasebenza kodwa iyabiza. Kwixesha elizayo, kunokubakho umkhwa wokuba iibhokisi zegiya zeplanethi zithathe indawo yeebhokisi zegiya ze-harmonic kuba iibhokisi zegiya zeplanethi zinexabiso eliphantsi, kodwa ukuncipha kuncinci. Ngokwemfuno yokwenyani, kunokubakho inxalenye yebhokisi yegiya yeplanethi yamkelwe.
Ukhuphiswano lwamalungu erobhothi e-humanoid lubandakanya ikakhulu izinciphisi, iimotor kunye nezikrufu zebhola. Ngokumalunga neebheringi, umahluko phakathi kwamashishini asekhaya nakwamanye amazwe ikakhulu kukuchaneka kunye nexesha lokuphila. Ngokumalunga nokunciphisa isantya, isinciphisi sesantya seplanethi sinexabiso eliphantsi kodwa sincitshiswe kancinci, ngelixa i-ball screw kunyei-roller screwzifanelekile ngakumbi kumalungu eminwe. Ngokweemoto, amashishini asekhaya anenqanaba elithile lokukhuphisana kwintsimi yeemoto ezincinci.
Ixesha lokuposa: May-19-2025
