Iyada oo ku saleysan cilladaha nidaamka xakamaynta booska dhaqameed ee servo manipulators birta jilicsan, manipulator palletizing pneumatic ah iyo nidaamka xakamaynta xasilloonida servo ee ku saleysan isku-duwayaasha Kartisia ayaa loo qaabeeyey.Marka hore, qaab-dhismeedka aasaasiga ah ee manipulator-ka isku-dubbaridka Cartesian waa la qaabeeyey oo la soo bandhigay, iyo nidaamka xakamaynta wareegga pneumatic ee koobabka nuugista dhammaadka manipulator-ka ayaa la naqshadeeyey oo la falanqeeyay;ka dibna mabaadiida kantaroolka ee matoorada servo ee jihooyinka X, Y iyo Z ee manipulator waa la falanqeeyaa waxaana loo qaabeeyey algorithm kantaroolka la qabsiga quudinta ee nidaamka booska booska;ugu dambeyntii, booska dhaqameed ee xiran-loop algorithm ee PID iyo quudinta-hor-u-hormarinta kontoroolka la qabsiga la qabsiga ayaa la barbardhigayaa.Ugu dambeyntii, xasiloonida raadinta booska PID algorithm ee caadiga ah ee xiran iyo quudinta kontoroolka la qabsiga la qabsiga ayaa la barbardhigayaa.Natiijooyinka tijaabada ah waxay muujinayaan in isku-dubbaridka Cartesian palletiser pneumatic iyo nidaamka xakamaynta xasilloonida booska servo si fiican loo qaabeeyey oo buuxiyey shuruudaha wax-soo-saarka dhabta ah.
Waqtiga boostada: Mar-15-2023
