Ii-manipulators ze-pneumatic ziqhutywa ngamandla omoya (umoya ocinezelweyo) kwaye iintshukumo zezixhobo zokubamba zilawulwa ziivalvu ze-pneumatic.
Indawo yegeyiji yoxinzelelo kunye nevalvu yohlengahlengiso ziyahluka ngokwesakhiwo sesixhobo sokuncamathisela umthwalo. Uhlengahlengiso lwesandla lusetyenziswa xa kuphathwa imithwalo enobunzima obufanayo ixesha elide. Ngexesha lomjikelo wokuqala wokuphatha uxinzelelo lwebhalansi luhlengahlengiswa ngesandla ngevalvu yohlengahlengiso. Luza kulungiswa kwakhona kuphela xa kuphathwa imithwalo enobunzima obahlukileyo. Uxinzelelo lwebhalansi lusebenza ngokungathanga ngqo kwisilinda yenkqubo, lulinganise umthwalo ophakanyisiweyo. Xa umthwalo uphakanyiswa okanye wehliswa ngesandla, ivalvu ekhethekileyo ye-pneumatic igcina uxinzelelo kwisilinda luzinzile, ukuze umthwalo ube kwimeko "yokulinganisela" egqibeleleyo. Umthwalo ukhululwa kuphela xa ubekwa phantsi, kungenjalo wehliswa kwimodi "yebhuleki" ide ibekwe phantsi. Uhlengahlengiso loxinzelelo lwebhalansi: Ukuba ubunzima bomthwalo buyahluka okanye umthwalo uphakanyisiwe okokuqala, uxinzelelo lolawulo kwivalvu yohlengahlengiso kufuneka lubekwe ku-zero. Oku kuboniswa yigeyiji yoxinzelelo ekhethekileyo, kwaye inkqubo yokuseta yile ilandelayo: seta uxinzelelo lwebhalansi lube ku-zero ngokusebenzisa ivalvu yohlengahlengiso kwaye ujonge uxinzelelo kwigeyiji; qhagamshela umthwalo kwisixhobo; cofa iqhosha lokucinezela "lokuphakamisa" (linokuba lifana neqhosha lokucinezela okanye lokuncamathisela); yonyusa uxinzelelo lokulinganisela ngokujika ivalvu yokulungisa ude kufikelelwe kwibhalansi yomthwalo.
Ukhuseleko: Kwimeko yokusilela komoya, inkqubo ivumela isixhobo sokubamba ukuba sihambe kancinci ide ifikelele kwindawo yokuma okanye kumgangatho (kokubini kwimeko "yokulayisha" kunye "yokukhulula"). Intshukumo yengalo ejikeleze i-axis iqhotyoshiwe (ii-axes zesixhobo sokuphakamisa azinyanzelekanga).
Ixesha lokuthumela: Juni-27-2023