kan sugandi . Bi izini yɔrɔ falen bɛ sigidaw la minnu bɛ hadamadenw ka kɛta juguya u danma. K’a ta nukliyɛri izini minnu ma baara la, olu ka siraba surunw na, minnu bɛ se ka kɛ ni radiyo ye, ka taa a bila petoroliforo yɔrɔjanw ka pibilikiw la minnu bɔgɔlen don, yɔrɔjan kɔlɔsili la, mago ma deli ka bonya ka tɛmɛ nin kan. O fɛɛrɛbɔ in cɛmancɛ ye... robo sɛgɛsɛgɛli robo min bɛ tugu ɲɔgɔn kɔ , o ye masin ye min dilannen don kɛrɛnkɛrɛnnenya la walasa ka taa yɔrɔ min na wotoro bɛ dɛsɛ ani hadamadenw tɛ u ja gɛlɛya ka taama. O fɛɛrɛ kɛrɛnkɛrɛnnenw tɛ i n’a fɔ wotoro-yɔrɔw minnu bɛ u jigi da girinya-yɔrɔba kan ani sira jɛlenw kan, o fɛɛrɛ kɛrɛnkɛrɛnnenw bɛ baara kɛ ni taama-taama ye min tɛ ban walasa ka girinya tila-tila ani ka ɲɔgɔn sɔrɔ kosɛbɛ. Yɛlɛma min bɛ kɛ ka taa yɛrɛmahɔrɔnya ni yɛrɛmahɔrɔnya tilancɛ sɛgɛsɛgɛli la, o tɛ baarakɛcogo ɲuman dɔrɔn ye ; o ye jiginni jɔnjɔn ye lakana ni faratiw kunbɛnni na fɛnsɔrɔsiraw kama minnu nafa ka bon kosɛbɛ.
A ka sanfɛla ka bon a robo sɛgɛsɛgɛli robo min bɛ tugu ɲɔgɔn kɔ o ko ninnu na, o sababu fanba bɛ bɔ a seko la ka dugukolo "min ma sigi senkan" minɛ. Laboratowari dɔ kɔnɔ, wotoro ye masakɛ ye; nka, minɛnko yɔrɔ min binna walima utilité tunnel min falen don ji la, dugukolo man Tel .i ka kɛ fla ye. Gɛlɛya minnu bɛ i n’a fɔ bɔgɔbɔgɔ lafiyalenw, jirisunw jiginni, ani bɔgɔ jugumanw, olu bɛ kɛ i n’a fɔ barika labanw laada lamaga-lamagali kama. O ni ɲɔgɔn cɛ, sira min bɛ tugu ɲɔgɔn kɔ, o bɛ a yɛrɛ ka sira da. O siraw sanfɛyɔrɔba b’a to robo tɛ jigin fɛn nɔgɔlenw kɔnɔ, k’a sɔrɔ taamacogo juguw bɛ masinw sirili di min ka kan walasa ka yele balilanw kan minnu ka bon ni robo yɛrɛ ka chassis janya ye. O bɛ kɛ sababu ye ka plateforme tracked kɛ sigida laminiko juguba ɲɛmɔgɔ ye sɔsɔli tɛ min na.
Engineering Resilience ka tɛmɛn Robot Track Geometry ɲɛtaa fɛ
Tel .efɔni selilɛri ɲɛtaa bɛɛ kɔnɔna na,... robo track , o ye yɔrɔ ye min bɛ kɛ masin hakili ni diɲɛ farikoloma cɛsira ye. O siraw dilanni ye balansi ye min ka bon kosɛbɛ, min bɛ kɛ ni tension, flexibilité ani friction ye. A min labɛnna ka ɲɛ robo track ka kan ka se ka sɛgɛnba fanga muɲu ni robo bɛ "skid-steer" jiginni kɛ—o ye manɛwɛrɛ ye, siraw bɛ wuli ka taa sira wɛrɛw fɛ walasa ka robo lamini a nɔ na. O se in ka wuli ka wuli a yɛrɛ sennasanbara kɔnɔ, o nafa ka bon sɛgɛsɛgɛli baara la yɔrɔw la minnu sirilen don, i n’a fɔ jibolisiraw kɔnɔ minnu janya ka bon walima izini masinw sinsinniw ni ɲɔgɔn cɛ.
Kɔnɔna sigicogo min bɛ yen robo track fana bɛ sistɛmu ka fanga sɔrɔcogo bɛɛ lajɛlen dantigɛ. Ɛntɛrinɛti ɲɛmɔgɔw bɛ u sinsin bɔgɔdaga ni sira barika bonya kan walasa fanga min bɛ bɔ bolifɛnw na, o ka se ka taa duguma ni bɔnɛ fitinin ye. Sɛgɛsɛgɛli kɛcogo kɔrɔlenw na, a ka c’a la, sira bɛ dilan ni jirisunw ye minnu bɛ "yɛrɛ saniya" minnu bɛ bɔgɔ ni nɔgɔw bɔn n’u bɛ wuli ka bolifɛnw lamini. O bɛ fɛnw dalajɛli bali minnu bɛ se ka kɛ sababu ye ka "sira fililen" sɔrɔ, o ye dɛsɛ cogo ye min bɛ se ka robo sɔngɔ gɛlɛn dɔ to a ka siri yɔrɔ la min tɛ se ka sɔrɔ. Ni u ye sira in ka masin dafalen bila jɔyɔrɔ fɔlɔ la, fɛn dilannikɛlaw bɛ dannaya hakɛ dɔ di min nafa ka bon kosɛbɛ cidenyabaara la, yɔrɔ minnu na kɛnɛyako tɛ sugandi ye.
Nafa min bɛ Caterpillar Tracks la masinko siratigɛ la, o ye robow ye
Taamaʃyɛn min bɛ Taa ‘ɲɛ, o hakilina tɛ ko kura ye, nka a waleyali ye caterpillar tracks ka ɲɛsin robow ma ye wuliba ye fɛɛrɛ kuraw la. Laada la, o cogoyaw tun bɛ tali kɛ jidagayɔrɔ girinmanw ni sɛnɛ tarakitɛriw la, minnu tun bɛ dɔn ni mankanba ye ani girinyaba. Bi robow ye o fɛɛrɛ in kɛ fɛn fitinin ye ani k’a nɔgɔya, ka fɛn nɔgɔmanw dilan, minnu ka girinya ka bon, minnu bɛ jiginni seko kabakomaw di. Caterpillar tracks ka ɲɛsin robow ma a to o masinw ka se ka taama ɛrɛzɛnsunw, siraba kan, ani hali balilan jɔlenw na ni sabatili hakɛ ye, robo minnu bɛ ni wotoro saba walima naani ye, olu tɛ se ka min sɔrɔ.
O sabatili in bɛ Bɔ "dugukolo tansiyɔn dɔgɔman" cogoya la min bɛ Kɛ ni wuluwulu dilanni ye. Ikomi robo girinya bɛ jɛnsɛn yɔrɔba dɔ la, o masin tɛ se ka sensɛriw lawuli walima ka yɔrɔ nɔgɔlenw bin sɛgɛsɛgɛli senfɛ. Nɔgɔ faratilenw marali kama, o ye lakana fɛɛrɛ nafamaba ye. Tagalen yɛ, caterpillar tracks ka ɲɛsin robow ma aw bɛ ɲɔgɔnye yɔrɔw di minnu tɛ foyi ɲɛ. Ni sira yɔrɔ dɔ ma se ka tulu walima jikuru dɔ minɛ tuguni, tuma caman na, sira janya tɔ bɛ sɔgɔsɔgɔninjɛ caman mara walasa masin ka to ka taa ɲɛfɛ. O dannaya in de y’a to jaabi jɛkulu kɛrɛnkɛrɛnnenw ni fɛnsɔrɔsiraw injiniyɛriw tɛ baara kɛ ni sistɛmuw ye minnu bɛ tugu ɲɔgɔn kɔ ni dɛsɛ musaka ka bon.
Material Science ani Rubber Robot Tracks ka baarakɛcogo caman
Hali ni nɛgɛso siraw bɛnnen don jɔli gɛlɛnw ma, diɲɛ min ye fɛnsɔrɔsiraw sɛgɛsɛgɛli ye min bɛ se ka kɛ kosɛbɛ, o bɛ se ka da o dɔrɔn de kan lastikuw robo siraw . Lastikuw sugandili — a ka c’a la, a bɛ kɛ fɛn caman ye, a bɛ kɛ fɛn caman ye — o bɛ nafa kɛrɛnkɛrɛnnenw di minnu nafa ka bon so kɔnɔ ani sigida kɛrɛnkɛrɛnnenw na. Roboti siraw minnu bɛ kɛ ni lastikuw ye bɛ jisumacogo ɲumanw di, minnu bɛ kurun kɔnɔ ɛntɛrinɛti fɛn sɛgɛsɛgɛlenw lakana, i n’a fɔ LiDAR skanɛrɛw ani kamera sumalenw, ka bɔ duguma yɔrɔw yɛrɛyɛrɛli la minnu tɛ kelen ye. O yɛrɛyɛrɛ danfara in nafa ka bon kosɛbɛ walasa ka kunnafoni jɛlenw minɛ, minnu bɛ se ka baara kɛ ni u ye sɛgɛsɛgɛli senfɛ.
Ani fana, lastikuw robo siraw ye furukɛbaliw ye ani u bɛ u makun. So saniyalen kɔnɔ, dɔgɔtɔrɔso la, walima dumuni dilanyɔrɔ la, robo ka kan ka se k’a ka baara kɛ k’a sɔrɔ a ma epoyi dugumalanw tiɲɛ walima ka mankan dɔ lawuli min bɛ baara tiɲɛ. Lastikuw bɛ se ka minɛ kosɛbɛ, o b’a to robo bɛ se ka yele nɛgɛdaga nɔgɔlenw kan walima ka tilew lamaga minnu ɲiginnen don, k’a sɔrɔ a ma sɛgɛn. Tuma caman na, fɛn dilannikɛlaw bɛ o siraw don ni fɛn kɛrɛnkɛrɛnnenw ye walasa u ka se ka tuluw, asidiw ani funteni caman kɛlɛ, k’a lajɛ ko... lastikuw robo siraw aw kana tiɲɛ ni aw bɛ kemikɛli gɛlɛnw na minnu bɛ sɔrɔ tuma caman na iziniw ka jibɔyɔrɔw la walima kemikɛli marayɔrɔw la.
Sinkɔrɔnise fanga ni Precision Robot Track Wheels
Locomotion puzzle laban ye baarakɛcogo ɲumanba jɛli ye robo sira wotoroninw . Ninnu tɛ laadala wotoro ye k’a da a kan u bɛ maga dugukolo la; o nɔ na, u ye kɔnɔna sprockets ni idlers ye minnu bɛ sira yɛrɛ ɲɛminɛ, ka tension ani ka boli. A ka dilancogo robo sira wotoroninw ye ko kɔrɔba ye walasa ka "sirali" bali. Bololabaarakɛla ka kan ka kɛ ni ɲinw cogoya tigitigi ye min bɛ bɛn ɲɔgɔn ma kosɛbɛ ni sira kɔnɔna sɔgɔlanw ye walasa a kana sɛgɛn, kɛrɛnkɛrɛnnenya la jiginniw senfɛ minnu girinya ka bon.
A ka ɲɛtaa la robo sɛgɛsɛgɛli robo min bɛ tugu ɲɔgɔn kɔ , a ka c’a la, idler wotoro bɛ sigi jirisunba dɔ kan min b’a to sira bɛ bɛn a bɛ tɛmɛsira min kan, o cogoya ma. O "conformal" lamaga-lamagali in b'a To senna-tɛgɛrɛ hakɛ caman bɛ To dugukolo la waati bɛɛ. Ka fara o kan, fɛn minnu bɛ kɛ ka... robo sira wotoroninw —tuma caman na, plastiki minnu girinya ka bon kosɛbɛ (UHMW) walima aliminiyɔmu anodizelen—olu bɛ sugandi walasa ka girinya ni ɲɔgɔnkanu dɔgɔya. Ni injiniyɛriw ye wotoro ni siraba lajɛlen kɔnɔna kɛlɛli dɔgɔya, u bɛ se ka robo in batiri si janya, o bɛ se ka kɛ sababu ye ka sɛgɛsɛgɛli baara jan kɛ dugujukɔrɔ yɔrɔbaw kɔnɔ walima pibiliki kilomɛtɛrɛ caman kan.
Bi izini yɔrɔ falen bɛ sigidaw la minnu bɛ hadamadenw ka kɛta juguya u danma.
