Iinkqubo ezininzi ezikhoyo zerobhothi ziphefumlela kwindalo, zivelisa iinkqubo zebhayoloji ngokwazo, izakhiwo zendalo okanye indlela yokuziphatha kwezilwanyana ukuze kuphunyezwe iinjongo ezithile. Oku kungenxa yokuba izilwanyana kunye nezityalo zixhotyiswe ngokwasengqondweni ngezakhono ezizinceda ukuba ziphile kwindawo ezihlala kuzo, kwaye oko kunokuphucula ukusebenza kweerobhothi ngaphandle kweendawo zaselabhoratri.
"Iingalo zerobhothi ezithambileyo sisizukulwana esitsha sabenzi berobhothi abafumana inkuthazo kubuchule obuphambili obubonakaliswe yizinto eziphilayo 'ezingenamathambo', ezinjengeentente ze-octopus, imiboko yeendlovu, izityalo, njl.," u-Enrico Donato, omnye wabaphandi abenze le nto. isifundo, uxelele iTech Xplore. “Ukuguqulela le migaqo kwizisombululo zobunjineli kukhokelela kwiinkqubo ezenziwe ngezinto ezithambileyo ezinobunzima obunokungena kwi-elastic deformation ukuvelisa intshukumo ethobelayo kunye nenobuchule. Ngenxa yezi mpawu zinqwenelekayo, ezi nkqubo zihambelana nomphezulu kwaye zibonisa ukomelela komzimba kunye nokusebenza ngokhuseleko lomntu ngexabiso eliphantsi.
Ngelixa iingalo zerobhothi ezithambileyo zinokufakwa kuluhlu olubanzi lweengxaki zehlabathi lokwenyani, zinokuba luncedo ngakumbi kwimisebenzi ezenzekelayo ebandakanya ukufikelela kwiindawo ezinqwenelekayo ezinokungafikeleleki kwiirobhothi eziqinileyo. Amaqela amaninzi ophando asandul 'ukuzama ukuphuhlisa abalawuli abaza kuvumela ezi zandla eziguquguqukayo ukuba zijongane ngempumelelo nale misebenzi.
Ngokuqhelekileyo, ukusebenza kwabalawuli abanjalo kuxhomekeke kuqulunqo lwezibalo ezinokuthi zenze imephu esebenzayo phakathi kweendawo ezimbini zokusebenza zerobhothi, oko kukuthi, indawo yomsebenzi kunye ne-actuator-space, "uchaza uDonato. “Nangona kunjalo, ukusebenza ngokufanelekileyo kwaba balawuli ngokubanzi kuxhomekeke kumbono-ingxelo ethintela ukunyaniseka kwabo kwindawo yelabhoratri, ithintela ukuhanjiswa kwezi nkqubo kwindawo yendalo kunye neguqukayo. Eli nqaku lilinge lokuqala lokoyisa lo mda ungalungiswanga kwaye andise ukufikelela kwezi nkqubo kwiindawo ezingalungiswanga. ”
"Ngokuchasene nengcamango ephosakeleyo yokuba izityalo azishukumi, izityalo zihamba ngokusebenzayo kunye nenjongo ukusuka kwelinye iphuzu ukuya kwelinye zisebenzisa izicwangciso zokunyakaza ezisekelwe ekukhuleni," kusho uDonato. “Ezi zicwangciso zisebenza kakuhle kangangokuba izityalo zinokubamba phantse zonke iindawo zokuhlala ezisemhlabeni, amandla angekhoyo kwizilwanyana. Okubangel’ umdla kukuba, ngokungafaniyo nezilwanyana, iindlela zokushukuma kwezityalo azisuki kwinkqubo yemithambo-luvo, kunoko, zivela ngenxa yeendlela ezintsonkothileyo zenkqubo yekhompyutha ekwabelwa amagunya.”
Isicwangciso solawulo esixhasa ukusebenza komlawuli wabaphandi sizama ukuphinda-phinda iindlela eziphucukileyo zokwabela amagunya ezixhasa iintshukumo zezityalo. Iqela lisebenzise ngokukodwa izixhobo zokuziphatha ezisekelwe ekuziphatheni, ezibandakanya ii-agent ze-computing ezidibeneyo ezidityanisiweyo kwisakhiwo esisezantsi ukuya phezulu.
"Ubutsha besilawuli sethu esiphefumlelwe yi-bio silele kubulula bayo, apho sisebenzisa imisebenzi esisiseko yengalo yerobhothi ethambileyo ukuvelisa indlela yokuziphatha efikelelekayo," utshilo uDonato. Ngokukodwa, ingalo yerobhothi ethambileyo ibandakanya ukucwangciswa okungafunekiyo kweemodyuli ezithambileyo, nganye kuzo zenziwa zisebenze nge-triad yee-actuator ezicwangcisiweyo. Kuyaziwa ukuba kuqwalaselo olunjalo, inkqubo inokuvelisa imigaqo emithandathu yokugoba.
Iiarhente zecomputing ezixhasa ukusebenza komlawuli weqela zixhaphaza i-amplitude kunye nexesha le-activator configuration ukuvelisa kwakhona iindidi ezimbini ezahlukeneyo zeentshukumo zezityalo, ezaziwa njenge-circumnutation kunye ne-phototropism. I-circumnutations zii-oscillations eziqhele ukubonwa kwizityalo, ngelixa i-phototropism ziintshukumo ezikhombayo ezizisa amasebe esityalo okanye amagqabi kufutshane nokukhanya.
Umlawuli odalwe nguDonato kunye noogxa bakhe banokutshintsha phakathi kwezi ndlela zokuziphatha zimbini, ukufikelela kulawulo olulandelelanayo lweengalo zerobhothi ezijikeleza izigaba ezibini. Eyokuqala yale nqanaba yinqanaba lokuhlola, apho iingalo zihlola indawo ezingqongileyo, ngelixa okwesibini sisigaba sokufikelela, apho zihamba khona ukufikelela kwindawo efunwayo okanye into.
"Mhlawumbi eyona nto ibalulekileyo ithathwa kulo msebenzi kukuba esi sisihlandlo sokuqala ukuba iingalo zerobhothi ezithambileyo ezingafunekiyo zenziwe zikwazi ukufikelela kwizakhono ezingaphandle kwendawo yebhubhoratri, ngesikhokelo esilula kakhulu solawulo," utshilo uDonato. “Ngaphezu koko, isilawuli sisebenza kuyo nayiphi na into ethambileyoirobhothiingalo ibonelele ngolungelelwaniso lwe actuation efanayo. Eli linyathelo elibhekiselele ekusetyenzisweni kweemvakalelo ezizinzisiweyo kunye neendlela zokulawula ezisasazwayo kwiirobhothi eziqhubekayo kunye nezithambileyo. ”
Ukuza kuthi ga ngoku, abaphandi bavavanya umlawuli wabo kuluhlu lweemvavanyo, besebenzisa i-modular cable-driven, lightweight and soft robotic arm kunye ne-9 degrees yenkululeko (9-DoF). Iziphumo zabo zazithembisa kakhulu, njengoko umlawuli wavumela ingalo ukuba ihlolisise indawo yayo kwaye ifikelele kwindawo ekujoliswe kuyo ngokufanelekileyo kunezinye izicwangciso zokulawula ezicetywayo kwixesha elidlulileyo.
Kwixesha elizayo, umlawuli omtsha unokufakwa kwezinye iingalo zerobhothi ezithambileyo kwaye zivavanywe kuzo zombini iilabhoratri kunye nezicwangciso zehlabathi lokwenyani, ukuvavanya ngakumbi amandla akhe okujongana notshintsho oluguquguqukayo lokusingqongileyo. Ngeli xesha, uDonato kunye noogxa bakhe baceba ukuphuhlisa isicwangciso sabo solawulo ngakumbi, ukuze ivelise ukunyakaza kwengalo yerobhothi kunye nokuziphatha.
"Okwangoku sijonge ukunyusa amandla omlawuli ukwenza ukuba ukuziphatha okuntsonkothileyo kusebenze njengokulandela umkhondo ojolise kuwo, ukubopha ingalo yonke, njl., ukwenza ukuba iinkqubo ezinjalo zisebenze kwindawo yendalo ixesha elide," wongezelela uDonato.
Ixesha lokuposa: Jun-06-2023