Iimoto
① Ukukhanya
Kwiirobhothi, ubukhulu kunye nobunzima beenjini zinovakalelo olugqithisileyo. Uphando kubuchwephesha obufana nomgangatho ophezulu-wokwenziwa kwemathiriyeli yemagneti, ukulungelelaniswa koyilo oludityanisiweyo, kunye nokusetyenzwa kunye nokulungelelaniswa kwendibano kubalulekile ekuphuculeni ukusebenza kakuhle kweenjini ze-servo, ukunciphisa ubungakanani kunye nobunzima bazo, kwaye iteknoloji engundoqo kwiimotor zerobhothi.
② Isantya esiphezulu
Xa umlinganiselo wokunciphisa ungenakuhlengahlengiswa kakhulu, isantya esiphezulu semoto sichaphazela ngokuthe ngqo isantya sokugqibela serobhothi kunye nexesha lokujikeleza. Ngaphaya koko, umlinganiselo wesantya esisezantsi unokuchaphazela inertia yemoto ehambelanayo; ke ngoko, ukonyusa isantya esiphezulu semoto ikwayitekhnoloji ephambili yeemoto zerobhothi.
③ Ukuqhuba ngokuthe ngqo, Undoqo oHollow
Ngokuvuthwa okuqhubekayo kunye nokukhuthazwa kweerobhothi ezisebenzisanayo, iimfuno zokukhanya kunye nezakhiwo zerobhothi ezihlangeneyo ziyanda. Ukuphuhlisa-iinjini zokuqhuba ngokuthe ngqo kwi-torque, idiskhi{2}}uhlobo lweemotor ezihollow core, kunye nezinye iirobhothi{3}}iinjini ezithile yindlela yexesha elizayo.
Servo
① Ukuphendula ngokukhawuleza, iNdawo echanekileyo
Ixesha lokuphendula le-servo lichaphazela ngokuthe ngqo isiqalo esikhawulezayo serobhothi{0}}yokuyeka ukusebenza, okuchaphazela ukusebenza kakuhle kwayo kunye nexesha lomjikelo.
② Impumelelo yokuNgqguba iSensorless Elastic
Ukhuseleko luphawu olubalulekileyo lokuvavanya ukusebenza kwerobhothi. Ukongeza amandla okanye i-torque sensors kwandisa ubunzima besakhiwo kunye neendleko. Itekhnoloji yokungqubana kwe-elastiki engenazinzwa esekwe kwi-encoder kunye nodibaniso lwemoto lwangoku lunokuphucula ukhuseleko lwerobhothi ukuya kumgama othile ngaphandle kokuguqula ubume berobhothi okanye ukonyusa iindleko.
③ Inkqubo eDityanisiweyo yokuqhuba kunye noLawulo
Ukuqhuba okudityanisiweyo kunye nolawulo lwetekhnoloji, usebenzisa -ii-CPU ezininzi kunye -ne-axis drive kunye nolawulo, iphucula ukusebenza kwenkqubo ngelixa kuncitshiswa ubungakanani bokuqhuba kunye neendleko.
④ Ukucinezelwa kweNgxoxo ye-Adaptive kwi-Intanethi
Ulwakhiwo lwerobhothi yeshishini luthanda ukuncokola ngexesha -lonxibelelwano lwe-axis, imithwalo enzima, kunye nokuqalisa ngokukhawuleza kunye nokuma. Ukuqina kwerobhothi kufuneka kuhambelane neeparamitha zokuqina kwe-motor servo; ukuqina okugqithisileyo kubangela ukungcangcazela, ngelixa ukuqina okunganelanga kukhokelela kwisiqalo esicothayo -ukumisa impendulo. Ukuqina kwerobhothi kuyahluka phantsi kwezikhundla ezahlukeneyo, ukumila, kunye nemithwalo yezixhobo, nto leyo eyenza kube nzima ukuhlangabezana nazo zonke iimeko zokusebenza ngokumisela{4}}ngaphambili amaxabiso okuqina kwe-servo. Itekhnoloji yokucinezela itekhnoloji ye-intanethi ye-adoptive chatter iphakamisa isicwangciso solawulo esikrelekrele esisusa iimfuno zeparameter tuning, ngaxeshanye ukujongana nokuqina kongqamaniso kunye neemfuno zokucinezelwa kwencoko. Oku kungacinezela isiphelo serobhothi{7}}i-effector chato kwaye iphucule isiphelo{8}}efective positioning ngokuchanekileyo.
