Sistimi ea Sebopeho sa Mechini
Ho latela pono ea sebopeho sa mochini, liroboto tsa indasteri hangata li arotsoe ka liroboto tsa serial le liroboto tse tšoanang. Tšobotsi ea liroboto tsa serial ke hore ho tsamaea ha axis e le 'ngoe ho fetola tšimoloho ea tsamaiso ea khokahanyo ea axis e' ngoe, ha motsamao oa motsoako o le mong ka roboto e tšoanang ha o fetole tšimoloho ea tsamaiso ea khokahanyo ea axis e 'ngoe. Liroboto tsa pele tsa indasteri kaofela li ne li sebelisa mekhoa ea serial. Mochini o bapileng o hlalosoa e le mokhoa o koetsoeng{3}} oo sethala se tsamaeang le sethala se tsitsitseng se hokeloang bonyane ke liketane tse peli tse ikemetseng tsa kinematic, mochini o na le likhato tse peli kapa ho feta tsa tokoloho, 'me o tsamaisoa ka ho bapana. Mochine o bapileng o na le likarolo tse peli: letsoho le letsoho. Mokhoa oa ho sisinyeha ha letsoho o na le tšusumetso e kholo sebakeng sa mosebetsi, athe letsoho e le khokahano lipakeng tsa sesebelisoa le 'mele oa mantlha. Ha li bapisoa le liroboto tsa serial, liroboto tse tsamaisanang li na le melemo e kang ho satalla ho hoholo, ho tsitsa ha sebopeho, moroalo o phahameng-ea ho jara, ho nepahala ha motsamao o holimo{8}, le motsamao o tlase. Boikemisetsong ba boemo, tharollo ea pele bakeng sa liroboto tsa serial e bonolo, empa tharollo e fapaneng e thata haholo; ka lehlakoreng le leng, bakeng sa liroboto tse tšoanang, tharollo ea pele e thata, empa tharollo e fapaneng e bonolo haholo.
Sistimi ea ho khanna
Sisteme ea ho khanna ke sesebelisoa se fanang ka matla ho sistimi ea sebopeho sa mochini. Ho latela mohloli oa matla, litsamaiso tsa likoloi li arotsoe ka mefuta e mene: hydraulic, pneumatic, motlakase le mechanical. Liroboto tsa khale tsa indasteri li ne li sebelisa li-drive tsa hydraulic. Leha ho le joalo, ka lebaka la mathata a kang ho lutla, lerata, le ho se tsitse-ka lebelo le tlase, hammoho le matla a maholo le a turu, li-hydraulic drives hajoale li sebelisoa feela ka liroboto tse kholo,{4}} tse boima, liroboto tsa parallel processing, le lisebelisoa tse ling tse khethehileng. Li-drive tsa pneumatic li fana ka melemo e kang lebelo le phahameng, sebopeho se bonolo sa sistimi, tlhokomelo e bonolo, le litšenyehelo tse tlase. Leha ho le joalo, lisebelisoa tsa pneumatic li sebetsa ka khatello e tlase, li etsa hore ho be thata ho beha maemo hantle, 'me hangata li sebelisoa feela bakeng sa ho khanna liroboto tsa indasteri. Li-pneumatic grippers, li-cylinders tsa rotary, le linoelo tse hulang moea li ka sebelisoa e le lisebelisoa tsa ho qetela bakeng sa ho ts'oara le ho kopanya moroalo o monyane ho isa ho o monyane. Li-drive tsa motlakase hajoale ke mokhoa o sebelisoang haholo oa ho khanna. Litšobotsi tsa bona li kenyelletsa phepelo e bonolo ea motlakase, karabelo e potlakileng, matla a maholo a ho khanna, ho lemoha mats'oao a bonolo, phetiso le ts'ebetso, le bokhoni ba ho sebelisa mekhoa e fapaneng ea taolo e feto-fetohang. Ho khanna likoloi hangata ho sebelisa li-stepper motors kapa servo motors; ho sebelisoa li-motor tse tobileng, empa tsena li theko e boima ebile li na le taolo e rarahaneng. Lintho tse fokotsang tse tsamaellanang le li-motor ka kakaretso ke li-reducers tsa harmonic, cycloidal pinwheel reducers, kapa li-gear gear tsa polanete. Ka lebaka la litlhoko tsa bohlokoa tsa ho khanna lirobotong tse tšoanang, li-motors tsa mela li amohetsoe haholo lebaleng lena.
Sistimi ea ho utloa
Sistimi ea liroboto ea ho utloa e fetola tlhahisoleseling e fapaneng ea boemo ba kahare le tikoloho ho tloha ho matšoao ho ea data le tlhahisoleseling eo roboto ka boeona kapa liroboto tse ling li ka li utloisisang le ho li sebelisa. Ntle le ho lemoha bongata ba mochini o amanang le boemo ba eona ba ho sebetsa, joalo ka ho falla, lebelo le matla, theknoloji ea pono ea pono ke karolo ea bohlokoa ea kutlo ea liroboto tsa indasteri. Sistimi e bonoang ea servo e sebelisa tlhaiso-leseling e bonoang e le matšoao a maikutlo ho laola le ho lokisa boemo le boemo ba roboto. Sistimi ea pono ea mochini le eona e sebelisoa haholo tlhahlobong ea boleng, ho tsebahatsa lisebelisoa tsa mosebetsi, ho hlopha lijo le ho paka. Sistimi ea kutlo e na le li-module tsa sensor tsa kahare le kantle; tshebediso ya disensara tse bohlale e kaonafatsa motsamao wa roboto, ho ikamahanya le maemo, le bohlale.
