kan sugandi . 
Yɛrɛmahɔrɔnya siratigɛw caya Tel .iya la izini, jago ani ɲinini siratigɛ la, o ye sinsin kura don lamagacogo farikoloma kan. Hali ni robo ka hakililata bɛ kɛ a hakili ye, a ka taama-taama-cogo ye farikolo-ɲɛnajɛ-minɛn ye, a bɛ jɛɲɔgɔnya kɛ ni diɲɛ ye min fɛ. Walasa ka baara kɛcogo ɲuman sɔrɔ robo-platifɔmu kɔnɔ, o bɛ faamuyali jugu de wajibiya jɛɲɔgɔnya min bɛ bolifɛnw yɔrɔw ni dugukolo-ɲɔgɔnna yɔrɔw cɛ. Labɛncogo bɛnnen sugandili tɛ bonya dɔrɔn ye; o ye degeliw ye minnu bɛ kɛ ka girinya, sɔgɔsɔgɔninjɛ ani jɔli dafalen balansi. Nin gafe in bɛ fɛn nafamaw sɛgɛsɛgɛ minnu bɛ robow ka taamacogo ɲuman na, k’a lajɛ ko i ka masin bɛ se ka sigida gɛlɛnw taama ni tigitigi ye ani ni dannaya ye.
Robo Precision Track Wheels jɔyɔrɔ ka bon kosɛbɛ bolifɛnw bolicogo ɲuman na
Ni aw bɛ plateforme (plateforme) min bɛ tugu ɲɔgɔn kɔ, o dilan, kɔnɔnafɛn minnu bɛ o sigida ɲɛminɛ ani k’a bila sira, olu nafa ka bon i n’a fɔ senna-tɛgɛrɛw yɛrɛ. E robo sira wotoroninw—minnu kɔnɔ, bolifɛnw, idlers ani sira wotoroninw bɛ yen—u bɛ baara kɛ i n’a fɔ kolotuguda dɛmɛnan bolifɛnw bɛɛ lajɛlen na. Kɛrɛnkɛrɛnnenya la, bolifɛn min bɛ boli, o ka kan ka dilan tigitigi walasa a ka bɛn ni sira kɔnɔna jateminɛ ye. Ni sprocket ɲinw cogoya ma bɛn ɲɔgɔn ma kosɛbɛ ni track ka drive lugs ye, o sɔgɔsɔgɔninjɛ min bɛ sɔrɔ o la, o bɛ kɛ sababu ye ka sɛgɛn Tel .iya la ani ka fanga bɔnɛ kosɛbɛ.
Roboti minnu bɛ baara kɛ kosɛbɛ, idler ni sira wotoro jɔyɔrɔ ka bon kosɛbɛ "track tension" sabatili la. Track min bɛ lafiya kojugu, o bɛna "fili" walima ka bɔ sira kan Tel .iyaba jiginni waati, k'a sɔrɔ sira min sirilen don kojugu, o bɛ doni caman lase motɛriw ni birikiw ma. Baarakɛla-kalanso robo sira wotoroninw tuma caman na, u dilannen don ni tension mechanisms integrated ye walima suspension systems minnu b’a to sira bɛ bɛn dugukolo ma. O ladamuni in b’a to dugukolo yɔrɔ hakɛ min ka bon kosɛbɛ, o bɛ to ka maga dugukolo la waati bɛɛ, o bɛ sabatili di min ka kan ka kɛ senfɛ-seereya sɛgɛsɛgɛlikɛlanw bolo walasa ka kunnafoni tigitigiw minɛ k’a sɔrɔ robo bɛ lamaga la.
Robot Track Geometry ka baarakɛcogo jɔnjɔnw dɔnni
Mobili plateforme ka ɲɛtaa bɛ daminɛ jabɔlan na ni... robow ka sira dilanni . O dakun in tɛ dan janya ni bonya sugandili dɔrɔn ma; o bɛ robo in ka baara laɲininen jateminɛ cogo bɛɛ lajɛlen de wajibiya. Misali la, "sira jan" dilanni bɛ sabatili ɲuman di ɛrɛzɛnsunw jiginni na walima bɔgɔdaga tigɛlenw ma, k'a sɔrɔ "sira surun" walima "kɛrɛ saba" dilanni bɛ manɛw kɛcogo ɲuman di yɔrɔ sirilenw na, so kɔnɔ. Track in geometry bɛ robo ka "dugukolo tansiyɔn" dantigɛ, o ye mɛtɛrɛ kɔrɔba ye masinw na minnu bɛ baara kɛ dugukolo nɔgɔlen kan walima yɔrɔ nɔgɔlenw kan.
Ka fara o kan, a hakili sigilen don koɲuman robow ka sira dilanni ka kan ka jatebɔ kɛ sigida nɔgɔw kan. Bɔgɔ walima cɛncɛn cogoyaw la, sira min ma labɛn ka ɲɛ, o bɛ se ka kɛ "datugu" ye, o bɛ na ni dɔ farali ye a kɛlɛli la ani a laban na, masinw ka jɛgɛn. Bi dilancogo dɔw bɛ fɛnw don u yɛrɛ saniyacogo la, i n’a fɔ bɔgɔbɔyɔrɔw ani jirisunw cogoya minnu bɛ kɛ kɛrɛfɛ, minnu bɛ kabakurunw ni nɔgɔw bɔ u yɛrɛ la ni sira bɛ wuli. Ni injiniyɛriw ye o masin nuancɛw bila jɔyɔrɔ fɔlɔ la dilan waati la, u bɛ se k’a lajɛ ko robo bɛ to baara la cogoyaw la minnu bɛna mobili min bɛ ni wotoro ye, o min ka ca ni laadalata ye, o paralize.
Tanki sennasanbaraw ka muɲuli ka ɲɛsin robow ma dugukolo yɔrɔw la minnu ka jugu kosɛbɛ
Ni robo dɔ bilala balawu yɔrɔ la walima jɔli yɔrɔ jan na, a bɛ gɛlɛya hakɛ dɔ de wajibiya min bɛ se ka kɛ dɔrɔn tanki senna-tɛgɛrɛw ye robow ye bɛ se ka di. O "continuous loop" taamacogo in b'a To masin bɛ Se k'a yɛrɛ ka sira Ta ka ɲɛ, ka yɔrɔw Dabɔ ani ka gɛlɛyaw Kɔrɔbɔ minnu bɛna wotoro wɛrɛ minɛ. Nafa fɔlɔ min bɛ tanki sennasanbara la, o ye u ka se ka robo girinya tila yɔrɔba dɔ la. O bɛ masin bali ka jigin fɛn nɔgɔlenw kɔnɔ i n’a fɔ nɛnɛ, cɛncɛn walima bɔgɔ jugumanba, o b’a to a bɛ kɛ sugandili dafalen ye dugukolo bɛɛ ɲinini kama.
A ka muɲuli ka tanki senna-tɛgɛrɛw ye robow ye bɛ Sɔrɔ fana u ka 'kɔnɔnafiliko la. Ikomi sennasanbara bɛ kɛ ni bandi belebele ye sanni ka kɛ yɔrɔ kelen ye min bɛ se ka ɲɔgɔn sɔrɔ, robo bɛ se k’a kunkolo mara hali ni sennasanbara yɔrɔ dɔ tiɲɛna walima ni a ma se ka minɛ jikuru dɔ la tuguni. O dannaya in de y’a to sira minnu bɛ tugu ɲɔgɔn kɔ, olu ye sariya ye sɔrɔdasiw ni izini baarakɛcogo la minnu ka bon kosɛbɛ. Ni u ye tanki-tread cogoya sugandi, baarakɛlaw bɛ ka wari bila mobili-sɛnɛcogo dɔ la min bɛ se ka kisi diɲɛ lakika gɛlɛyaw ma minnu tɛ se ka fɔ ka ɲɛ, k’a lajɛ ko robo bɛ se k’a ka cidenyabaara dafa, a sanfɛla cogoya mana kɛ min o min ye.
Fɛnɲɛnɛmako kura: Nafa minnu bɛ robo lastikuw siraw la
Hali ni tariku kɔnɔ mobili minnu bɛ tugu ɲɔgɔn kɔ, olu tun bɛ u jigi da nɛgɛ girinmanw kan, minnu mankan ka bon, ani minnu bɛ tiɲɛni kɛ, bi robow dilanni baarakɛlaw y’u ɲɛsin o ma lastikuw robo siraw . O jiginni ka taa elastomɛriw la minnu bɛ baara kɛ kosɛbɛ, o ye fɛn caman sɛmɛntiya robow bɛ taa cogo min na so kɔnɔ ani kɛnɛma. O siraw bɛ dilan ni vulcanization multi-layer ye, tuma caman na, nɛgɛ juruw walima aramid fibrew bɛ don u kɔnɔ walasa ka sɛgɛn fanga di min ka kan ka kɛ walasa ka sɛgɛn bali doni kɔrɔ.
Nafa minnu bɛ a la lastikuw robo siraw ye fɛn caman ye. A fɔlɔ, u bɛ yɛrɛyɛrɛli sumaya ɲuman di, o min nafa ka bon kosɛbɛ walasa ka kurun kɔnɔ ɛntɛrinɛti fɛn sɛgɛsɛgɛlenw lakana i n’a fɔ LiDAR ani kamera minnu bɛ ɲɛfɔli kɛ kosɛbɛ. Filanan, u ye "non-marring" ye, o kɔrɔ ye k'u bɛ se ka taama depo duguma polisilen dɔ kɔnɔ k'a sɔrɔ u ma jiribolo to yen walima ka yɔrɔ tiɲɛ. Sabanan, lastikuw ka sɛgɛsɛgɛli dafalen bɛ sira Di sira ma ka "minɛ" yɔrɔ nɔgɔlenw kan i n'a fɔ nɛgɛw jiginni walima tile ɲiginnenw. O sonyali, lakanani ani samali faralen ɲɔgɔn kan, o bɛ lastikuw kɛ fɛn ye min ka fisa ni fɛn tɔw bɛɛ ye bi yɛrɛmahɔrɔnya baara fanba la, k’a ta lakana kɔlɔsili la ka taa a bila dɔgɔtɔrɔso jiginni yɔrɔw la.
Robot Track System Holistic dɔ farali ɲɔgɔn kan walasa ka baara kɛcogo ɲuman sɔrɔ
A laban na, laɲini min ye ka taamacogo ɲuman sabati, o ye ka a jira ko... robo track bɛ kɛ i n’a fɔ masin ka laɲini janyalen ye min tɛ fɛn tiɲɛ. O b’a ɲini ka yɔrɔ minnu bɛɛ lajɛlen don ɲɔgɔn na kosɛbɛ, baro bɛ kɛ olu kan. Fɛn minnu bɛ kɛ ka... lastikuw robo siraw ka kan ka bɛn sigida baarakɛcogo funteni ma; ɲinw cogoya la robo sira wotoroninw ka kan ka bɛn ni sennasanbara fɔcogo ye; ani a bɛɛ lajɛlen robow ka sira dilanni ka kan ka robo in ka taamasiyɛn kɛrɛnkɛrɛnnenw nɔgɔya.
Ni o fɛn ninnu bɛ ɲɔgɔn na ka ɲɛ, o nɔ bɛ kɛ robo-platifɔmu ye min bɛ nɔgɔya a "senw" kan hali n'a bɛ doni girinman dɔ ta. A bɛ taa ni nɛɛma ye min bɛ kɛ ni dususuma ye, min bɛ baara kɛ kosɛbɛ, min b’a seko gɛlɛnw sɔsɔ. Ni i y’i sinsin sennasanbara ni wotoro ɲumanw sugandili kan, i tɛ dan bolifɛn bolicogo dɔrɔn ma; aw bɛ ka jusigilan dɔ da yɛrɛmahɔrɔnya kan min bɛ se ka da a kan. I ka robo bɛ ka kɔdingɛ dɔ kɔnɔna sɛgɛsɛgɛ wo, walima ka dugu kɔkan siraba dɔ kɔlɔsi wo, a siraw cogoya de bɛna kɛ a ka ɲɛtaa ɲɛnabɔbaga laban ye. Robotiki diɲɛ kɔnɔ, ɲɔgɔndan min bɛ kɛ ni ɲɔgɔn ye, taamacogo ɲuman tɛ fɛn ye dɔrɔn—o ye wajibi jɔnjɔn ye min b’a to fɛɛrɛ kuraw ka bɔ laboratuwari la ka don baarakɛla ka ɲɛnamaya kɔnɔ.
Yɛrɛmahɔrɔnya siratigɛw caya Tel .iya la izini, jago ani ɲinini siratigɛ la, o ye sinsin kura don lamagacogo farikoloma kan.
