1. Ọdịdị na nkesa nkwonkwo
(1) Nkesa nkwonkwo mmadụ
Ebe ọ bụ na robot Tesla nke mbụ ghọtara ogo 28 nke nnwere onwe, nke bụ ihe dịka 1/10 nke ọrụ ahụ mmadụ.
A na-ekesa ogo nnwere onwe 28 ndị a na elu na nke dị ala. The elu ahu na-agụnye ubu (6 degrees nke nnwere onwe), elbows (4 degrees nke nnwere onwe), nkwojiaka (2 degrees nke nnwere onwe) na ukwu (2 degrees nke nnwere onwe).
Ahụ dị ala na-agụnye nkwonkwo medullary (ogo 2 nke nnwere onwe), apata ụkwụ (2 degrees nke nnwere onwe), ikpere (2 na ogo nnwere onwe), ụmụ ehi (ogo 2 nke nnwere onwe) na nkwonkwo ụkwụ (2 degrees nke nnwere onwe).
(2) Ụdị na ike nke nkwonkwo
Enwere ike ịkewa ogo nnwere onwe 28 ndị a n'ime njikọ ntụgharị na ahịrị. Enwere nkwonkwo rotary 14, nke kewara n'ime ngalaba atọ, dị iche iche dịka ike ntụgharị. Obere ike nkwonkwo rotary kacha nta bụ 20 Nm eji na ogwe aka: 110 mụrụ 9 na-eji n'úkwù, medulla na ubu, wdg: 180 na-eji n'úkwù na hip. E nwekwara 14 linear nkwonkwo, dị iche iche dị ka ike. Ngwunye ahịrị kacha nta nwere ike nke ehi 500 ma jiri ya na nkwojiaka; 3900 ehi na-eji ụkwụ; na 8000 ehi na-eji na apata na ikpere.
(3) Ọdịdị nke nkwonkwo
Ọdịdị nke nkwonkwo na-agụnye moto, reducers, sensọ na bearings.
Rotary nkwonkwo ejimotona harmonic reducers,
na ihe ngwọta kachasị mma nwere ike ịdị n'ọdịnihu.
Njikọ Linear na-eji moto na bọọlụ ma ọ bụkposara bọọlụdị ka reducers, tinyere sensọ.
2. Motors na humanoid robot nkwonkwo
The Motors eji na nkwonkwo bụ tumadi servo Motors kama frameless Motors. Moto na-enweghị Frameless nwere uru nke ibelata ibu na iwepu akụkụ ndị ọzọ iji nweta oke torque. Encoder bụ isi ihe na-eme ka njikwa moto mechiri emechi, ma a ka nwere oghere n'etiti ụlọ na ndị mba ọzọ na izi ezi nke koodu ahụ. Sensọ, ihe mmetụta ike kwesịrị ịghọta nke ọma ike na njedebe, ebe ihe mmetụta ọnọdụ kwesịrị ịghọta nke ọma ọnọdụ robot na oghere akụkụ atọ.
3. Ngwa nke reducer na humanoid robot nkwonkwo
Ebe ọ bụ na nke gara aga na-ejikarị harmonic reducer, nke gụnyere nnyefe n'etiti wheel dị nro na wiil ígwè. Harmonic reducer dị irè ma dị oke ọnụ. N'ọdịnihu, enwere ike inwe usoro maka igbe igbe mbara ala iji dochie igbe igbe harmonic n'ihi na igbe mbara ala dị ọnụ ala, mana mbelata dị ntakịrị. Dị ka a chọrọ n'ezie, e nwere ike ịbụ akụkụ nke planetary gearbox na-nakweere.
Asọmpi maka nkwonkwo robot humanoid na-agụnye ndị na-ebelata ihe, moto na skru bọọlụ. N'ihe gbasara bearings, ndịiche dị n'etiti ụlọ na mba ọzọ ụlọ ọrụ bụ tumadi na nkenke na ogologo ndụ. N'ihe gbasara onye na-ebelata ọsọ ọsọ, onye na-ebelata ọsọ mbara ala dị ọnụ ala mana ọ na-agbada obere, ebe bọọlụ na-atụgharị narola ịghasadị mma maka nkwonkwo mkpịsị aka. N'ihe gbasara moto, ụlọ ọrụ ụlọ nwere oke asọmpi n'ọhịa micromoto.
Oge nzipu: Mee-19-2025
