1. Inkomoko y’imashini zikoreshwa mu nganda Ivumburwa ry’imashini z’inganda zishobora guhera mu 1954, igihe George Devol yasabaga ipatanti ku guhindura ibice bishobora gutegurwa. Nyuma yo gufatanya na Joseph Engelberger, hashyizweho isosiyete ya mbere y’imashini za robot Unimation ku isi, maze robot ya mbere ikoreshwa ku murongo w’ibikorwa rusange bya Motors mu 1961, cyane cyane mu gukuramo ibice mu mashini yica. Byinshi mu bikoresha ingufu za hydraulic manipulators (Unimates) byagurishijwe mumyaka yakurikiyeho, bikoreshwa mugukoresha ibice byumubiri no gusudira ahantu. Porogaramu zombi zagenze neza, byerekana ko robot zishobora gukora neza kandi zemeza ubuziranenge busanzwe. Bidatinze, andi masosiyete menshi yatangiye guteza imbere no gukora ama robo yinganda. Inganda itwarwa nudushya yavutse. Ariko, byatwaye imyaka myinshi kugirango inganda zunguke rwose.
2. Yari umunyeshuri wubuhanga mu ishami ry’imashini kandi yakoraga muri Laboratwari ya Stanford Artificial Intelligence. "Stanford Arm" ifite dogere 6 zubwisanzure, kandi manipulator yuzuye amashanyarazi igenzurwa na mudasobwa isanzwe, igikoresho cya digitale cyitwa PDP-6. Iyi miterere itari anthropomorphic kinematike ifite prism hamwe ningingo eshanu zizunguruka, bigatuma byoroha gukemura ibigereranyo bya kinematike, bityo byihutisha imbaraga zo kubara. Module yo gutwara ibinyabiziga igizwe na moteri ya DC, disiki ihuza kandi igabanya ibikoresho bya spur, potentiometero na tachometer kumwanya hamwe nibitekerezo byihuta. Igishushanyo cya robo cyakurikiyeho cyatewe cyane nibitekerezo bya Scheinman.
3. Ivuka rya robo yinganda zuzuye amashanyarazi Mu 1973, ASEA (ubu ni ABB) yashyize ahagaragara robot yambere yinganda ya microcomputer ku isi, amashanyarazi yuzuye amashanyarazi IRB-6. Irashobora gukora inzira ikomeza inzira, nicyo gisabwa kugirango arc gusudira no gutunganya. Biravugwa ko iki gishushanyo cyagaragaye ko gikomeye kandi robot ifite ubuzima bwa serivisi kugeza kumyaka 20. Mu myaka ya za 70, robot yakwirakwijwe vuba mu nganda z’imodoka, cyane cyane mu gusudira no gupakira no gupakurura.
4. Iki kimenyetso kiranga bine-axis igiciro gito cyashushanyaga guhuza ibikenewe byo guteranya uduce duto, kuko imiterere ya kinematike yemerera kugenda vuba kandi kubahiriza amaboko. Sisitemu yo guteranya ibintu byoroshye ishingiye kuri robo ya SCARA hamwe nibicuruzwa byiza bihuza ibicuruzwa byateje imbere cyane iterambere ryibicuruzwa byinshi bya elegitoroniki n’ibicuruzwa ku isi.
5. Gutezimbere Imashini zoroheje kandi zibangikanye Ibisabwa umuvuduko wa robo hamwe na misa byatumye habaho ibishushanyo mbonera bya kinematike no kohereza. Kuva mu minsi ya mbere, kugabanya misa nubusumbane bwimiterere ya robo byari intego nyamukuru yubushakashatsi. Ikigereranyo cyibiro 1: 1 kubiganza byabantu byafatwaga nkigipimo cyanyuma. Muri 2006, iyi ntego yagezweho na robot yoroheje yo muri KUKA. Nuburyo bworoshye bwa dogere-ndwi-yubwigenge robot ifite imbaraga zo kugenzura imbaraga ziterambere. Ubundi buryo bwo kugera ku ntego yuburemere bworoshye nuburyo bukomeye bwashakishijwe kandi burakurikiranwa kuva mu myaka ya za 1980, aribwo guteza imbere ibikoresho bigereranya imashini. Izi mashini zihuza amaherezo yazo na mashini shingiro ikoresheje imirongo 3 kugeza kuri 6 ibangikanye. Izi robo zitwa parallel zirakwiriye cyane kumuvuduko mwinshi (nko gufata), neza cyane (nko gutunganya) cyangwa gukora imitwaro myinshi. Ariko, aho bakorera ni ntoya kuruta iyimashini zisa cyangwa zifunguye.
6. Imashini za Cartesian hamwe na robo zamaboko abiri Kugeza ubu, robot ya Cartesian iracyakwiriye gukoreshwa mubisabwa bisaba ahantu hanini ho gukorera. Usibye igishushanyo gakondo ukoresheje amashoka atatu yubusobanuro bwa orthogonal yahinduwe, Gudel yatanze igitekerezo cyo gushushanya ingero ya barrel mu 1998. Iki gitekerezo cyemerera intwaro imwe cyangwa nyinshi za robo gukurikirana no kuzenguruka muri sisitemu yo kwimura ifunze. Muri ubu buryo, aho robot ikorera hashobora kunozwa hifashishijwe umuvuduko mwinshi kandi neza. Ibi birashobora kuba iby'igiciro cyihariye mubikoresho byo gukora no gukora imashini. Igikorwa cyoroshye cyamaboko yombi ningirakamaro kubikorwa bigoye byo guterana, gutunganya icyarimwe gukora no gupakira ibintu binini. Imashini ya mbere iboneka mu bucuruzi ya syncronike y'amaboko abiri yatangijwe na Motoman mu 2005. Nka robot y'amaboko abiri yigana kugera no kwangirika kw'ukuboko k'umuntu, irashobora gushyirwa mu mwanya abakozi bakoraga mbere. Kubwibyo, ibiciro byigishoro birashobora kugabanuka. Igaragaza amashoka 13 yimikorere: 6 muri buri kiganza, hiyongereyeho umurongo umwe wo kuzunguruka shingiro.
7. Imashini zigendanwa zigendanwa (AGVs) hamwe na sisitemu yo gukora ibintu byoroshye Muri icyo gihe, imashini zikoresha imashini zikoresha inganda (AGVs) zagaragaye. Izi robot zigendanwa zirashobora kuzenguruka ahakorerwa cyangwa gukoreshwa mubikoresho byo gupakira ibintu. Mu gitekerezo cya sisitemu yo gukora yimikorere yoroheje (FMS), AGV zahindutse igice cyingenzi cyinzira zoroshye. Mubisanzwe, AGVs zashingiraga kumurongo wateguwe mbere, nkinsinga zashyizwemo cyangwa magnesi, kugirango bigende. Hagati aho, kugendana ubuntu AGVs bikoreshwa mubikorwa binini byo gukora no gutanga ibikoresho. Mubisanzwe kugenda kwabo gushingiye kuri scaneri ya laser, itanga ikarita nyayo ya 2D yibidukikije bigezweho kugirango habeho kwigenga no kwirinda inzitizi. Kuva mu ntangiriro, guhuza AGVs nintwaro za robo byafatwaga nkibishobora guhita bipakurura no gupakurura ibikoresho byimashini. Ariko mubyukuri, izo ntwaro za robo zifite inyungu zubukungu nigiciro gusa mubihe bimwe na bimwe, nko gupakira no gupakurura ibikoresho munganda ziciriritse.
8. . 3. Igenzura ryinshi rikorana na robo - Imashini nyinshi zishobora gutegurwa no guhuzwa no guhuzwa mugihe nyacyo binyuze mugenzuzi, ituma robot ikora neza hamwe mumwanya umwe. . Guhuza imiyoboro hamwe no kugenzura kure - Imashini za robo zahujwe numuyoboro ukoresheje fieldbus cyangwa Ethernet kugirango igenzure neza, iboneza kandi ibungabunge.6. Uburyo bushya bwubucuruzi - Gahunda nshya yimari yemerera abakoresha amaherezo gukodesha ama robo cyangwa kugira isosiyete yabigize umwuga cyangwa nuwitanga robot ikora ishami ryimashini, rishobora kugabanya ingaruka zishoramari no kuzigama amafaranga.7. Kwamamara kwamahugurwa nuburere - Amahugurwa no kwiga byabaye serivisi zingenzi kubakoresha amaherezo kugirango bamenye amarobo. - Ibikoresho bya Multimediya byabigize umwuga n'amasomo byateguwe mu kwigisha injeniyeri n'umurimo kugira ngo ubashe gutegura neza, gahunda, gukora no kubungabunga ibice bya robo.
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Igihe cyo kohereza: Apr-15-2025
