Kev muaj zog
① Lub teeb yuag
Rau cov neeg hlau, qhov loj thiab qhov hnyav ntawm lub cev muaj zog yog qhov rhiab heev. Tshawb nrhiav rau cov thev naus laus zis xws li high {{1} kev ua haujlwm zoo rau kev txhim kho qhov ua tau zoo ntawm servo motors, txo qis thiab qhov hnyav, thiab yog qhov tseem ceeb thev naus laus zis rau cov neeg hlau tsav.
② Kev kub ceev
Thaum cov kev txo qis tsis tuaj yeem hloov kho tsis tuaj yeem hloov kho tau ntau, qhov ntau tshaj plaws ntawm lub cev muaj zog cuam tshuam rau cov neeg hlau muaj effector ceev thiab voj voog. Tsis tas li ntawd, qhov ntsuas qis qis tuaj yeem cuam tshuam rau lub cev muaj zog ntawm kev sib txuam hauv kev sib tw; Yog li ntawd, nce qhov siab tshaj plaws ntawm lub cev muaj zog kuj yog cov thev naus laus zis rau cov neeg hlau tsav.
③ Tsav ncaj qha, hollow core
Nrog rau cov kev ua ntu zus nroos thiab kev txhawb nqa ntawm kev sib koom tes sib koom ua ke, qhov yuav tsum tau ua rau lub teeb ci thiab compact cov qauv hlau tau nce. Tsim siab - Torque Ncaj Ncaj Tsav Tsheb, Disc} Hom Hollow Ceg Motors, thiab lwm cov neeg hlau {}} Cov Motors yog lub neej tom ntej.
Servo
Teb teb ceev ceev, muab cov kev tso cai
Lub sijhawm teb ntawm servo ncaj qha cuam tshuam rau tus neeg hlau lub caij nyoog sai-}}}}}}}} kev ua haujlwm thiab lub sijhawm voj voog.
② Sensorless elastic kev sib tsoo ua tiav
Kev Nyab Xeeb yog qhov taw qhia tseem ceeb rau kev ntsuas cov neeg hlau ua haujlwm. Ntxiv kev quab yuam lossis lub siab sensque nce cov txheej txheem nyuaj thiab tus nqi. Sensorless elastic kev sib tsoo thev naus laus zis raws li kev txuas txuas ntxiv tuaj yeem txhim kho cov neeg hlau kev nyab xeeb yam tsis hloov pauv tus qauv hlau lossis nce ntxiv.
③ Ua ke tsav thiab tswj cov kab
Kev tsav tsheb ua ke thiab tswj cov thev naus laus zis, siv ntau {{{} {{{{{{{1} {{1} {agis ax ax ax ax ax ax ax ax ax ax ax ax ax while thaum txo cov tsav tsheb thiab tus nqi.
④ Online yoog chattere
Muaj neeg hlau cantilever cov qauv yog nquag mus sib xyaw thaum muaj ntau {{}} Axis Linkage, hnyav thauj khoom, thiab pib nrawm thiab nres. Tus neeg hlau txhav txhav yuav tsum phim cov tsav tsheb servo txhav txhav txhav; Ntau dhau ntawm kev co ua rau kev co, thaum tsis muaj zog stiffness tau ua rau qeeb pib- nres teb. Cov neeg hlau txhav sib txawv nyob rau hauv cov haujlwm sib txawv, kev xa khoom, thiab kev ua haujlwm nyuaj kom tau raws li ua ntej- teev servo stiffing muaj nuj nqis. Online yoog chattere superctioning kev tswj hwm uas tau tshem tawm cov kev xav tau dav dav, ib txhij uas hais tias muaj kev xav tau txhav txhav txhav thiab muaj kev txhawb nqa chatter. Qhov no tuaj yeem ua rau neeg hlau kawg {{}} equefits chattering thiab txhim kho}}} equely inveysing qhov tseeb.
