Intangiriro ya Manipulator

Aumukoresha w'amayerini igikoresho gikora kiyikora gishobora kwigana imikorere imwe n'imwe y'ukuboko n'ukuboko by'umuntu kugira ngo gifate kandi gitware ibintu cyangwa gikore ibikoresho hakurikijwe gahunda ihamye. Kirangwa n'ubushobozi bwo gushyirwa kuri porogaramu kugira ngo gikore ibikorwa bitandukanye byitezwe, kandi gifite ibyiza byo kubaka no gukora imashini z'abantu n'izikoresha.

Manipulators ni zo za mbere mu nganda zikoresha ikoranabuhanga, ni na zo za mbere mu buryo bugezweho zishobora gusimbura imirimo ikomeye y’abantu kugira ngo zigere ku ikoreshwa ry’imashini n’imikorere yazo, kandi zishobora gukora ahantu habi kugira ngo zirinde umutekano w’umuntu ku giti cye, bityo zikoreshwa cyane mu nganda zikora imashini, ibyuma, ibikoresho by’ikoranabuhanga, inganda z’urumuri, n’ingufu za atome.

Mu buzima bwa none, ikoranabuhanga riri gutera imbere umunsi ku wundi, itandukaniro rikomeye riri hagati y'ukuboko kwa manipulator n'ukuboko k'umuntu ni ubworoherane n'imbaraga. Ni ukuvuga ko inyungu nini ya manipulator ishobora gukora igikorwa kimwe inshuro nyinshi mu buryo busanzwe bwa mekanike ntukigere wumva unaniwe! Gukoresha amaboko ya manipulator nabyo bizakwirakwira cyane, manipulator ni ibikoresho bigezweho byo gukora byikora byakozwe mu myaka ya vuba aha, ubuhanga bw'imikorere n'ubushobozi bwo kurangiza ibikorwa mu bidukikije. Ishami ry'ingenzi ryaibikoresho byo mu nganda bikoresha amayeri.

Dukurikije uburyo bwo gutwara ibintu, bishobora kugabanywamo hydraulic, pneumatic, electromagnetic, na mechanical. Birangwa n'ubushobozi bwo gushyirwa kuri gahunda kugira ngo bikore ibikorwa bitandukanye byitezwe, ubwubatsi n'imikorere bihuza ibyiza by'imashini zikoreshwa n'abantu n'izikoreshwa mu gukurura.

Umuyoboro w'amashanyarazi ugizwe ahanini n'ibice bitatu by'ingenzi: umuyoboro w'amashanyarazi, uburyo bwo gutwara ibintu n'uburyo bwo kugenzura. Ukuboko ni igice gikoreshwa mu gufata igikoresho (cyangwa igikoresho) kandi gifite imiterere itandukanye nko kubambika, ubwoko bwo gushyiramo ibintu mu mabraketi n'ubwoko bwo gushyiramo ibintu bitewe n'imiterere, ingano, uburemere, ibikoresho n'ibisabwa mu mikorere y'ikintu gifashwe. Uburyo bwo kugenda, ku buryo ukuboko kurangiza uburyo butandukanye bwo kuzenguruka (guhindagurika), kugenda cyangwa kugenda mu buryo buvanze kugira ngo ugere ku gikorwa cyagenwe, guhindura aho ikintu gifatiwe giherereye n'uko gihagaze. Uburyo bwo kugenda bwigenga, nko guterura, kureba kure no kuzenguruka, bwitwa urugero rw'ubwisanzure bwa muyoboro w'amashanyarazi. Kugira ngo umuntu afate ikintu mu mwanya uwo ari wo wose n'icyerekezo icyo ari cyo cyose mu kirere, hakenewe urugero rutandatu rw'ubwisanzure. Ingano z'ubwisanzure ni ibipimo by'ingenzi by'igishushanyo cy'umuyoboro w'amashanyarazi. Uko ingano z'ubwisanzure ziyongera, ni ko umuyoboro w'amashanyarazi urushaho koroha, ni ko imiterere yawo irushaho kuba miremire, kandi ni ko imiterere yawo irushaho kuba ikomeye. Muri rusange, umwiharikoabakoresha amayeriifite dogere 2 kugeza kuri 3 z'ubwisanzure. Sisitemu yo kugenzura ikoreshwa mu kurangiza ingendo runaka igenzura moteri ya buri dogere y'ubwisanzure bwa manipulator. Ikira kandi ibitekerezo bivuye kuri sensors kugira ngo ikore igenzura rihamye rifunganye. Igice cy'ibanze cya sisitemu yo kugenzura ubusanzwe kigizwe na chip ya micro-controller nka microcontroller cyangwa dsp, yateguwe kugira ngo igere ku murimo wifuza.