Pūnaha Whakarewa Robotic – Pane Whakarewa Galvanometer

Ka whakamahia e te pane arotahi whakakorikori he taputapu miihini hei tūāpapa tautoko, ā, ka neke whakamua, ka neke whakamua i roto i te taputapu miihini hei whakatutuki i te whakarewa o ngā whakarewa me ngā huarahi rerekē. Ko te tika o te whakarewa e whakawhirinaki ana ki te tika o te kaiwhakaoho, nō reira he raruraru pēnei i te iti o te tika, te puhoi o te tere urupare, me te nui o te inertia. Ka whakamahia e te pūnaha matawai galvanometer he motuka hei huri i te arotahi. Ka peia te motuka e tetahi iahiko, ā, he painga o te tika teitei, te iti o te inertia, me te tere o te urupare. Ina whiti te hihi mārama ki te arotahi galvanometer, ka hurihia e te hurihanga o te galvanometer te koki whakaata o te hihi laser. Nō reira, ka taea e te hihi laser te matawai i tetahi huarahi i roto i te tirohanga matawai mā te pūnaha galvanometer. Ko te pane poutū e whakamahia ana i roto i te pūnaha whakarewa karetao he tono e ahu mai ana i tēnei kaupapa.

Ngā wāhanga matua o tepūnaha matawai galvanometerKo te whakawhanui hihi, te arotahi arotahi, te karawaka matawai tuaka-rua XY, te papa whakahaere me te pūnaha pūmanawa rorohiko manaaki. Ko te karawaka matawai e pā ana ki ngā pane matawai karawaka XY e rua, e peia ana e ngā motuka servo tere-tere. Ka peia e te pūnaha servo tuaka-rua te karawaka matawai tuaka-rua XY kia huri i te tuaka-X me te tuaka-Y mā te tuku tohu whakahau ki ngā motuka servo tuaka-X me te tuaka-Y. Mā tēnei, mā te nekehanga ngātahi o te arotahi whakaata tuaka-rua XY, ka taea e te pūnaha whakahaere te huri i te tohu mā te papa karawaka kia rite ki te tauira o ngā whakairoiro kua whakaritea o te pūmanawa rorohiko manaaki me te aratau ara kua whakaritea, ka tere te neke i runga i te papa o te mea mahi hei hanga i te ara matawai.

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E ai ki te whanaungatanga tūnga i waenga i te arotahi arotahi me te karawaka reera, ka taea te wehewehe i te aratau matawai o te karawaka reera ki te matawai arotahi mua (pikitia maui) me te matawai arotahi whakamuri (pikitia matau). Nā te rerekētanga o te ara whatu ina huri te hihi reera ki ngā tūranga rerekē (he rerekē te tawhiti tuku hihi), ko te papa arotahi reera i te tukanga matawai arotahi o mua he mata piko porowhita, e whakaaturia ana i te ahua maui. Ko te tikanga matawai arotahi whakamuri e whakaaturia ana i te ahua matau, ko te arotahi whāinga he arotahi papatahi. He hoahoa whatu motuhake tō te arotahi papatahi.

Pūnaha Whakarewa Robotic

Mā te whakauru i te whakatikatika whatu, ka taea te whakarite i te papa arotahi porowhita o te hihi taiaho ki te papa. Ko te matawai arotahi whakamuri he mea pai mō ngā tono me ngā whakaritenga tika tukatuka teitei me te whānuitanga tukatuka iti, pērā i te tohu taiaho, te whakarewa hanganga iti taiaho, me ētahi atu. I te piki haere o te rohe matawai, ka piki ake hoki te whakatuwheratanga o te arotahi. Nā ngā herenga hangarau me ngā rauemi, he tino utu nui te utu o ngā whāriki whakatuwheratanga nui, ā, kāore e whakaaetia tēnei otinga. Ko te whakakotahitanga o te pūnaha matawai galvanometer i mua i te arotahi whāinga me te karetao tuaka-ono he otinga whai hua ka taea te whakaiti i te whakawhirinaki ki ngā taputapu galvanometer, ā, ka taea te whai i te taumata nui o te tika o te pūnaha me te hototahi pai. Kua whakamahia tēnei otinga e te nuinga o ngā whakauru, e kiia ana ko te whakarewa rere. Ko te whakarewa o te pae pahi kōwae, tae atu ki te horoi i te pou, he tono rere, ka taea te whakanui ake i te hōputu tukatuka me te ngāwari me te whai hua.

Ahakoa he matawai arotahi-mua, he matawai arotahi-muri rānei, kāore e taea te whakahaere i te arotahi o te hihi laser mō te arotahi hihiri. Mō te aratau matawai arotahi-mua, ina iti te mea mahi hei tukatuka, he whānuitanga hohonu arotahi tō te arotahi arotahi, nō reira ka taea e ia te mahi matawai arotahi me te hōputu iti. Heoi, ina nui te papa e matawaihia ana, ka kore e arotahi ngā pūwāhi e tata ana ki te taha, ā, kāore e taea te arotahi ki te mata o te mea mahi hei tukatuka nā te mea kua hipa ake i ngā rohe o runga me raro o te hohonu arotahi laser. Nō reira, ina hiahiatia kia arotahi pai te hihi laser ki tētahi tūranga i runga i te papa matawai, ā, he nui te mara tirohanga, kāore e taea e te whakamahinga o te arotahi roa arotahi pumau te whakatutuki i ngā whakaritenga matawai.

Ko te pūnaha arotahi hihiri he pūnaha whatu ka taea te whakarerekē i te roa o te arotahi ina hiahiatia. Nō reira, mā te whakamahi i te karāhe arotahi hihiri hei utu mō te rerekētanga o te ara whatu, ka neke te karāhe piko (te whakawhanui hihi) i te tuaka whatu hei whakahaere i te tūranga arotahi, ā, ka tutuki te utu hihiri o te rerekētanga ara whatu o te mata hei tukatuka i ngā tūranga rerekē. Ki te whakatauritea ki te karawaka 2D, ko te hanganga karawaka 3D e tāpiri ana i te "pūnaha whatu tuaka-Z", e āhei ai te karawaka 3D ki te whakarerekē noa i te tūranga arotahi i te wā o te tukanga whakarewa me te mahi whakarewa mata piko ā-wāhi, me te kore e hiahiatia te whakarerekē i te tūranga arotahi whakarewa mā te whakarerekē i te teitei o te kaikawe pērā i te taputapu mīhini, te karetao rānei pērā i te karawaka 2D.

Ka taea e te pūnaha arotahi hihiri te whakarerekē i te nui o te whakakore arotahi, te whakarerekē i te rahi o te ira, te whakatutuki i te whakatikatika arotahi o te tuaka-Z, me te tukatuka toru-ahu.

Ko te tawhiti mahi e tautuhia ana ko te tawhiti mai i te taha miihini o mua o te arotahi ki te papa arotahi, ki te papa matawai rānei o te arotahi. Kia tūpato kei pohehe tēnei ki te roa arotahi whai hua (EFL) o te arotahi. Ka inehia tēnei mai i te papa matua, he papa whakapae e whakaarohia ana ka huri te pūnaha arotahi katoa, ki te papa arotahi o te pūnaha whatu.