kan sugandi . Yɛrɛmahɔrɔnya ɲinini ni izini otomatiki siratigɛ la, gɛlɛya min bɛ bɔgɔ jugumanba tɛmɛni kan, o bɛ masinko gɛlɛyaba dɔ jira. Hali ni wotoro bɛ Tel .iya di dugukolo gɛlɛn kan, tuma caman na, u bɛ dɛsɛ ni u ɲɛda jiginna ka kɛ bɔgɔlan ye min bɛ sɔgɔsɔgɔ, min bɛ kɛ ji tilancɛ ye.
Nafa jɔnjɔn min bɛ robot sira belebelebaw la sigidaw la minnu tɛ sɔgɔsɔgɔ kosɛbɛ
Ni robo-platifɔmu dɔ ye bɔgɔ jugumanba Sɔrɔ, farikolo-ɲɛnajɛ balilan fɔlɔ ye dugukolo sanfɛla sɔgɔli fanga dɛsɛ ye. Laadalata wotoro bɛ masin girinya bɛɛ lajɛlen kɛ ɲɔgɔn cɛ yɔrɔ misɛnnin damadɔw kan, o bɛ degunba lase jigin. Bɔgɔ la, o degun bɛ tɛmɛ dugukolo ka se ka fɛnw ta, o bɛ na ni bɔgɔ ye joona. A adoption de robo sira belebelebaw bɛ o fanga in sɛmɛntiya kosɛbɛ ni mobili girinya tilatilali ye yɔrɔ la min ka bon kosɛbɛ. O tilali bɛ dugukolo tansiyɔn Dɔgɔya fo ka Se hakɛ ma min ka Tel .i ka nɔgɔya ka Tɛmɛ hadamaden senna-taama kan, o b'a To robo bɛ Se ka "fɔlɔ" bɔgɔ sanfɛ sanni a ka 'sèn Bɔ a la.
Kisɛya tilali nɔgɔman kɔfɛ, sirako siratigɛ min bɛ to senna, o bɛ kɛ sababu ye ka dancɛ basigilen di fɛnw ma minnu tɛ bɛn dugukolo ma. Hali ni wotoro ka kan ka wuli ka bɔ a bɛ jirisun fitinin bɛɛ la, sira jan bɛ o yɔrɔw cɛtigɛ, ka sabatili hakɛ dɔ mara min nafa ka bon kosɛbɛ sensɛriw ni kurun kɔnɔ minɛn nɔgɔlenw na. O nafa min bɛ sɔrɔ masin na, o tɛ kɛ dɔrɔn ka to i jɔlen na; a bɛ tali kɛ fanga maracogo ɲuman na. Ni siraba jigincogo juguya dɔgɔyara, motɛri man kan ka to ka "bulldozing" nɔ kɛlɛ min bɛ kɛ ni wotoro ye bɔgɔ gɛrɛ a sira ɲɛfɛ.
The Material Science of Rubber Tank Tracks ka ɲɛsin robow ma
Sisitɛmu min bɛ tugu ɲɔgɔn kɔ, o nafa bɛ nɔba bila a dacogo la. Bi robow la, jiginni ka taa lastikuw tanki siraw robow kama ye fɛn caman sɛmɛntiya o masinw ni dugukolo nɔgɔlenw bɛ ɲɔgɔn sɔrɔ cogo min na. A tɛ i n’a fɔ nɛgɛ siraw minnu bɛ kɛ ka so jɔ girinmanw na, lastikuw bɛ balansi kɛrɛnkɛrɛnnen di fɛnw ma minnu bɛ se ka wuli ka bɔ u nɔ na ani ka u minɛ. Lastikuw ka wulicogo b’a to sira bɛ bɔgɔbɔgɔ dɔɔnin balilanw lamini na minnu bɛ ji la i n’a fɔ faraw walima jirisunw minnu dogolen don bɔgɔ kɔnɔ, o b’a to dugukolo yɔrɔ caman bɛ to ka maga dugukolo la waati bɛɛ.
Ka fara o kan, tuma caman na, lastikuw bɛ dilan ni taamacogo kɛrɛnkɛrɛnnenw ye minnu bɛ yɛrɛ saniya nɔgɔya. Faratiba minnu bɛ bɔgɔ jugumanba la, olu dɔ ye "kɔlɔsili" ye, yɔrɔ min na, jirisunw ni ɲɔgɔn cɛ yɔrɔw bɛ fa nɔgɔw la, ka sira tigɛli kɛ cɛsirilan nɔgɔlen ye, min bɛ sɛgɛn. Lastikuw sira minnu ka ɲi kosɛbɛ, olu bɛ baara kɛ ni jateminɛ kɛrɛnkɛrɛnnen ye min bɛ flexion ni sira bɛ drive sprocket lamini, ka bɔgɔ bɔ ka ɲɛ ani ka "bite" mara min ka kan ka kɛ ɲɛtaa kama. O yɛrɛ saniya seko in ye danfaralanba ye robow bolo minnu bɛ baara kɛ jisigiyɔrɔ janw na walima balawu yɔrɔw la minnu falen don ji la, bololabaara tɛ se ka kɛ yɔrɔ minnu na.
Traction optimiser ni Caterpillar Tracks ye Robow kama
A ka masinko gɛlɛya min bɛ... caterpillar tracks ka ɲɛsin robow ma bɛ traction redundant hakɛ dɔ di, wotoro tɛ se ka bɛn min ma dɔrɔn. Wotoro min bɛ kɛ ni wotoro ye, ni wotoro kelen walima fila ma se ka minɛ tuguni, o cidenyabaara bɛɛ bɛ se ka tiɲɛ. O ni ɲɔgɔn cɛ, track system bɛ baara Kɛ ni lug kelen-kelen walima "grousers" tan ni caman ye waati kelen na. Hali ni sira ɲɛfɛyɔrɔ bɛ ka gɛlɛya sɔrɔ nɔgɔ kɛrɛnkɛrɛnnen dɔ la min ka nɔgɔn, kɔfɛyɔrɔ bɛ to ka baara kɛ ni dugukolo ye, o bɛ girinya wajibiyalen di walasa ka robo sama ka tɛmɛ.
O minɛni min tɛ kɛ ka caya, o bɛ bonya ni dugukolo sɔgɔli jA mana ke min yea ye. Ikomi sira bɛ taa robo ka chassis yɔrɔba dɔ la, a bɛ se ka sanni sɔrɔ dugukolo hakɛ caman kan. Bɔgɔ jugumanba kɔnɔ, dugukolo cogoya man Tel .i ka kɛ kelen ye. Bɔgɔ min ka gɛlɛn ka tɛmɛ o kan walima nɔgɔ minnu bɛ ji la, olu bɛ se ka sɔrɔ santimɛtɛrɛ damadɔw duguma. Caterpillar-style systems ka lugs jugumanw dabɔra ka se ka tɛmɛ jilama sanfɛla la walasa ka substrat sabatilen sɔrɔ min bɛ duguma, o b’a to torque min bɛ bɔ motɛriw la, o bɛ se ka wuli ka kɛ linear movement ye.
Roboti tanki siraw ka dannaya masinko siratigɛ la nɛnɛba la
Baara kɛli bɔgɔ juguman kɔnɔ, o tɛ dan dugukolo sanfɛla taama dɔrɔn ma; a bɛ kɔnɔnafɛnw lakanani de wajibiya ka bɔ ji ni nɔgɔ doncogo la. A ka dilancogo robo tanki siraw tuma caman na, a bɛ kɛ ni biriki datugulenw ni bolifɛnw ye minnu barika ka bon, minnu dilannen don kɛrɛnkɛrɛnnenya la walasa ka ji bɔgɔlen ka sɔgɔsɔgɔninjɛ muɲu. Bɔgɔ tɛ ji dɔrɔn ye; o ye fɛnɲɛnamafagalan misɛnninw jɔli ye minnu bɛ se ka kɛ i n’a fɔ cɛncɛn yɔrɔw la minnu bɛ lamaga.
Track system min dilannen don koɲuman, o bɛ da tugu min na, o bɛ dɛmɛ ka bolifɛnw ni motɛriw tanga u kana u bila sigida la. Ni baara kɛra ni sprocket-and-link walima sprocket-and-belt system ye, fanga dicogo bɛ to sanfɛ kosɛbɛ bɔgɔ yɔrɔ jugumanba sanfɛ. O bolifɛn jɔyɔrɔ kɔrɔtalen bɛ dɔ bɔ bolifɛn bolicogo la ka don walima ka minɛ ni sumaya fanga ye min bɛ sɔrɔ bɔgɔmugu belebeleba la, min ka gɛlɛn i n’a fɔ bɔgɔ. A fana b’a To dugukolo-yɔrɔ-yɔrɔ sanfɛtaw ka Dòn ɲɔgɔn na cɛmancɛ-chassis (cɛmancɛ-chassis) kama, ka robo ka "sɔgɔsɔgɔninjɛ" ni kuran-sɛnɛ lakana ka Bɔ ji la.
Tank treads ka siniɲɛsigi jiginni na robow kama
Ni hakililata ni sensɛri fɛɛrɛ bɛ ka taa ɲɛ, farikolo lamagacogo min bɛ se ka da a kan, o ɲinini bɛ bonya ka taa a fɛ. Robo bɛ se ka sira ɲinini fɛɛrɛ caman sɔrɔ diɲɛ kɔnɔ, nka n’a farikolo lamagacogo ma ɲɛ nɔgɔba dɔ kɔnɔ mɛtɛrɛ kɛmɛ fɔlɔw la, o cidenyabaara banna. O de y’a to tanki senna-tɛgɛrɛw ye robow ye ka taa a fɛ ka kɛ ɲininikɛyɔrɔ fɔlɔ ye ɛntɛrinɛti injiniyɛriw fɛ. An b’a ye ko sira hakilitigiw bɛ ka bɔ kɛnɛ kan minnu bɛ se k’u ka tension walima hali u ka profile ladilan ka da hakilinaw kan minnu bɛ bɔ dugukolo sensorw fɛ.
Bɔgɔbɔgɔ dugukolo kan taama nata bɛ nin porogaramu kɔrɔlen in furu la ni sira in fizik ye min tɛ waati ta. Ni baara kɛra ni fɛnw ye minnu bɛ se ka fɛn caman sɛgɛsɛgɛ ani ni jateminɛ kɛcogo bɛrɛbɛnni ye, robo bɔnsɔn nataw bɛna se ka bɔ siraba gɛlɛnw na ka taa bɔgɔ jugumanba la, k’a sɔrɔ u ma bɔnɛ u ka baarakɛcogo la. Nka, sariyakolo jɔnjɔn bɛ to o cogo kelen na: sira ye sira ye min bɛ se ka ta, robo bɛ taa n’a ye. Diɲɛ kɔnɔ, dugukolo tɛ se ka fɔ ka ɲɛ, wa bɔgɔ ka dun, se ka i yɛrɛ ka sira bila, o de ye nafa laban ye.
Kuncɛli la, desizɔn min tara ka baara kɛ ni bolifɛn ye min bɛ tugu ɲɔgɔn kɔ, o ye desizɔn ye min sinsinnen bɛ dugukolo mekaniki sariya jɔnjɔnw kan. A kɛra ɲinini ni kisi dron fitinin ye wo, a kɛra izini bolifɛnba ye wo, a yɔrɔ min ka fisa ni tɔw bɛɛ ye, a ka fɛnw samayɔrɔw minnu tɛ foyi ɲɛ, ani minnu bɛ tugu ɲɔgɔn kɔ, olu ka se ka fɛnw muɲu, o b’a to bɔgɔ jugumanba ye bali ye min ka kan ka tɛmɛ, a tɛ kɛ jaan ye min ka kan ka siran. Ɛntɛrinɛti taama min kɛra ka bɔ wotoro nɔgɔmanw na ka taa a bila lastikuw ni wuluwuluw labɛncogo caman na, o b’a jira ko an bɛ se ka bonya ka taa a fɛ walasa ka sigida gɛlɛnbaw dɔn Dugukolo kan.
Yɛrɛmahɔrɔnya ɲinini ni izini otomatiki siratigɛ la, gɛlɛya min bɛ bɔgɔ jugumanba tɛmɛni kan, o bɛ masinko gɛlɛyaba dɔ jira.
