Itsindaicyuma gikoresha imbaraga mu miterere ya trussni igikoresho gishya gikoresha ibikoresho gihuza ibyiza byo kugenda neza kw'icyuma gifata ibintu (gantry) n'imiterere y'igikoresho gikoresha imbaraga (power manipulator) (cyangwa icyuma gifata ibintu neza). Cyagenewe guha abakora ibikoresho igisubizo kinini, gisobanutse neza, cyoroshye kandi kidahenze cyo gukoresha ibintu biremereye no kubishyiraho, cyane cyane ku nganda zisaba ko ibintu bikorwa n'intoki byoroshye kandi ahantu hanini ho gukorera.
Imiterere y'ibanze n'amahame y'imikorere
Inyubako nyamukuru ya Truss (Imiterere ya Gantry):
Imitako n'inkingi: bikora ishusho ihamye y'"umuryango" izenguruka igice cyose cyo gukoreramo.
Imirongo iyobora neza n'uburyo bwo kuyitwara: Imirongo iyobora neza cyane ishyirwa ku miyoboro, akenshi igenzurwa n'udukingirizo tw'ibikoresho, imikandara ihuza cyangwa vis z'umupira zitwarwa na moteri za servo, kugira ngo trolley (cyangwa uburyo bwo kuyikoresha) itwaye amashanyarazi ibashe kugenda neza, neza kandi mu buryo bunini ku murongo wa X (icyerekezo cy'inzira). Hari na sisitemu zishobora kuba zifite ubushobozi bwo kugenda ku murongo wa Y kugira ngo zigere ku gice kinini cy'indege.
Umukoresha w'amashanyarazi/ Kuboko kwa Balancer: Iki ni cyo gice cy'ingenzi cy'imikorere ya sisitemu, gishyizwe munsi y'ikamyo igendanwa ku gice cy'imashini. Gikoresha uburyo bwo guhuza umwuka, uburyo bwo guhuza amashanyarazi cyangwa uburyo bwo guhuza imikorere kugira ngo gihuze cyangwa gishyire ku murongo uburemere bwinshi bw'igikoresho gifashwe, kugira ngo umukoresha abashe kwimura ibintu biremereye byoroshye akoresheje imbaraga nke zo gusunika no gukurura. Imashini ikoresha ingufu ubwayo ifite ubushobozi bwo kuzamura no kumanura mu murongo wa Z (icyerekezo gihagaze), ndetse n'urwego runaka rwo kuzenguruka no kuzunguruka. Ingufu z'iherezo / Igikoresho: Gishyizwe ku mpera ya mudasobwa ikoresha ingufu, ni igice gihuza n'igikoresho. Gikozwe hakurikijwe imiterere y'ikintu gitwarwa (imiterere, ingano, uburemere, ibikoresho, ubushobozi bwo gupima ubuso, nibindi). Ibisanzwe ni: ibikoresho bikoresha umwuka, ibikombe byo gukurura umwuka, ibikombe byo gukurura amashanyarazi, ibikombe, ibishingwe, nibindi. Umukoresha agenzura uburyo icyuma gifunguka n'ifungwa ryacyo binyuze mu mukono cyangwa akabuto kari kuri mudasobwa ikoresha ingufu. Sisitemu yo kugenzura: Ugereranije na robo zikora ku buryo bwikora, sisitemu yayo yo kugenzura iroroshye cyane. Ishinzwe cyane cyane:
Gushyira hamwe X/Y axis hamwe n'uburyo troli igenda (ishobora gukoreshwa n'amashanyarazi cyangwa igakururwa n'intoki gusa).
Guhindura imbaraga zo kuringaniza za manipulator y'ingufu.
Uburyo bwo kugenzura gufungura no gufunga kw'agakingirizo.
Igikorwa cyo kurinda umutekano.
Ibyiza
Uburambe buhebuje bwo kurokora abakozi: Hamwe n'ingaruka za "zero gravity" z'imashini ikoresha ingufu, abayikoresha bashobora gutwara ibiro amagana cyangwa toni z'ibintu biremereye nta ngorane.
Uburyo bwinshi bwo gukora: Imiterere y'umugozi itanga uburyo bunini bwo gukora bugororotse kurusha icyuma cyigenga cya cantilever cyangwa icyuma kimwe gikoresha ingufu, gishobora gutwikira ikigo cyose cyangwa kikazunguruka ibikoresho byinshi.
Gushyira ibintu mu buryo bunoze cyane no koroshya imikorere y'intoki: Bihuza ubushobozi bwo gushyira ibintu mu buryo bunoze bw'imashini n'ubushobozi bwo kugenzura ibintu mu buryo bunoze bw'umuntu. Abakoresha bashobora gukoresha uburyo bwo gutekereza no gusuzuma ibintu mu buryo bunoze kugira ngo bagere ku buryo bunoze, bworoshye kandi bushobora guhuza ibintu mu buryo bunoze kurusha roboti zisanzwe.
Kunoza imikorere myiza: Bigabanya imirimo y'ingufu kandi bikongera uburyo bwo kuyitunganya, bityo bikanoza imikorere rusange y'umurongo w'umusaruro.
Menya neza umutekano w'akazi: Kugabanya cyane ibyago byo gukomereka ku kazi nko gucika intege, gukomereka, no gukomereka bishobora guterwa no gukora ibintu biremereye n'intoki.
Ihuze n'ibikoresho bigoye gukora: Imashini zikoresha ingufu zikozwe mu buryo bwa Truss zifite inyungu zidasanzwe ku bikoresho bifite imiterere idahuye, ahantu hadahindagurika ho gukurura ibintu, cyangwa bisaba gukosora inguni neza n'intoki.
Ikoreshwa ry'umwanya munini: Ubusanzwe ishyirwa hejuru y'umurongo w'umusaruro, ntabwo ifata umwanya w'agaciro ku butaka.
Ishoramari ryoroshye cyane: Ugereranyije na sisitemu za roboti zikora mu buryo bwuzuye, ishoramari ryazo rya mbere n'ubuhanga bwa porogaramu akenshi biri hasi, kandi bigira inyungu nyinshi ku ishoramari.
Igihe cyo kohereza: Kamena-09-2025