1. Uhlobo lokudlulisela ngqo
Ingalo ye-manipulator enolu hlobo lokuhamba inomsebenzi wokuhamba kumgca othe tye kwii-coordinates ezintathu eziziingxande, oko kukuthi, ingalo yenza kuphela iintshukumo ezithambileyo ezifana nokuphakamisa nokutshintsha, kwaye umfanekiso wesikali sayo sokuhamba unokuba ngumgca othe tye, iplani engxande okanye i-cuboid. Uyilo lolu hlobo lwe-manipulator lulula, intshukumo ilula, kwaye kulula ukugqiba iimfuno ezithile zokuchaneka, kodwa ulwalathiso lwesithuba somsebenzi walo lukhulu kwaye isikali somsebenzi esihambelanayo sincinci.
2, uhlobo lokujika
Kolu hlobo lwe-manipulator, ingalo inamacandelo amabini: ingalo ephezulu kunye nengalo esezantsi. Ukongeza kwingalo ephezulu enokujikeleza okuthe tye kunye nentshukumo yokuphosa, ingalo esezantsi inentshukumo yokuphosa xa ithelekiswa nengalo ephezulu. Ngokwembono yemo, ingalo yangaphambili ithelekiswa nengalo enkulu yokujika kunye nentshukumo yokwandisa, ngokwesi sici sibizwa ngokuba yi-flexion kunye ne-extension type, ipateni yayo yesikali sokushukuma yi-sphere.
3. Uhlobo lwephimbo
Olu hlobo lwengalo yesandla esilawula intshukumo ukongeza ekujikeni okuthe tye kwenqanaba lomsebenzi, kodwa ikwanayo nepitch yengalo yenqanaba lomsebenzi, amanqanaba amabini omsebenzi kunye nenqanaba le-elastic yengalo yomsebenzi zenza i-pitch manipulator elungileyo, umfanekiso wayo wesikali sokuhamba wentshukumo yebhola engenanto yokuphosa, ukuze kube lula ebizwa ngokuba yi-pitching type. I-manipulator enepitch yengalo kuphela kwaye ingenantshukumo ebuyela umva yengalo idla ngokubizwa ngokuba yi-pitch type kuba uyilo lwayo lusondele kuhlobo lwepitch.
Ixesha lokuthumela: Agasti-14-2023