Nkawom 
Nhyehyɛe ahorow a ɛde ne ho a ɛredɔɔso ntɛmntɛm wɔ mfiridwuma, aguadi, ne nhwehwɛmu mu no asi so dua foforo wɔ honam fam nhyehyɛe a wɔde yɛ kankyee no so. Bere a robɔt nyansa a wɔde ayɛ no yɛ n’amemene no, ne kankyee nhyehyɛe no ne honam fam ade a ɛnam so ne wiase no di nkitaho. Sɛ wobenya adwumayɛ a ɛsen biara wɔ robɔt asɛnka agua so a, ɛhwehwɛ sɛ wonya ntease a emu dɔ wɔ sɛnea nneɛma a wɔde fa kar no ne nneɛma a ɛne fam di nkitaho no ntam no yɛ adwuma bom. Nhyehyɛe a ɛfata a wobɛpaw no nyɛ kɛse ho asɛm kɛkɛ; ɛyɛ apɔw-mu-teɛteɛ a wɔde kari pɛ wɔ torque, friction, ne structure integrity mu. Saa akwankyerɛ yi hwehwɛ nneɛma atitiriw a ɛka ho wɔ robɔt akwantu a ɛyɛ papa mu, na ɛhwɛ hu sɛ wo mfiri no betumi afa mmeae a ɛyɛ den no pɛpɛɛpɛ na wotumi de ho to so.
Dwuma titiriw a Precision Robot Track Wheels Di wɔ Drive Efficiency mu
Sɛ wɔreyɛ asɛnka agua a wɔadi akyi ho nhyehyɛe a, nneɛma a ɛwɔ mu a ɛkyerɛ nhyehyɛe no kwan na ɛkanyan no no ho hia te sɛ anammɔn a wɔde nantew no ankasa. No robɔt track ntwahonan —a nea ɛka ho ne drive sprockets, idlers, ne kwan so ntwahonan—a ɛyɛ adwuma sɛ nnompe a ɛboa ma wɔde tu kwan no nyinaa. Ɛsɛ sɛ wɔyɛ drive wheel no titiriw sɛnea ɛbɛyɛ a ɛne track no mu geometry bɛhyia. Sɛ sprocket no sẽ no ne track no drive lugs no nhyia pɛpɛɛpɛ a, friction a efi mu ba no ma ɛsɛe ntɛmntɛm na ahoɔden a ɛyera kɛse.
Wɔ robɔt a ɛyɛ adwuma yiye mu no, idler ne kwan so ntwahonan di dwuma titiriw wɔ “track tension” a ɛkɔ so tra hɔ no mu. Track a ɛyɛ hare dodo bɛ "tow" anaasɛ ɛbɛfiri keteke kwan so bere a ɛredannan ahoɔhare kɛse, bere a track a ɛyɛ den dodo ma adesoa a ɛboro so ba motor ne bearing ahorow no so. Adwumayɛfo-grade robɔt track ntwahonan wɔtaa de mfiri a wɔde twetwe nneɛma a wɔaka abom anaasɛ nneɛma a wɔde sɛn so a ɛma kwan no ne asase no hyia na ɛyɛ. Saa nsakrae yi hwɛ hu sɛ asase ani a ɛsen biara no kɔ so ne asase no di nkitaho bere nyinaa, na ɛma ahoɔden a ɛho hia ma sensor ahorow a ɛyɛ mmerɛw a wɔde kyere nsɛm a ɛyɛ pɛpɛɛpɛ bere a robɔt no reyɛ adwuma no.
Robot Track Geometry Mfitiaseɛ a Wobɛtumi Ayɛ no Yie
Mobile platform a edi mu no fi ase wɔ drawing board no so denam... robɔt track nhyehyɛe . Saa ɔfã yi hwehwɛ pii sen sɛ wobɛpaw ne tenten ne ne tɛtrɛtɛ kɛkɛ; ɛhwehwɛ sɛ wonya adwuma a robɔt no abɔ ne tirim sɛ wɔbɛyɛ no ho adwene a edi mũ. Sɛ nhwɛso no, "kwan tenten" nhyehyɛe ma ahoɔden a ɛkyɛn so ma antweri a wɔforo anaasɛ wotwa amena, bere a "kwan tiawa" anaa "ahinanan" nhyehyɛe ma wotumi de di dwuma yiye wɔ mmeae a ɛyɛ den na ɛwɔ dan mu. Geometry a ɛwɔ track no mu na ɛkyerɛ robɔt no "asase so nhyɛso," metric a ɛho hia ma mfiri a ɛyɛ adwuma wɔ asase a ɛyɛ mmerɛw anaa asase a ɛyɛ mmerɛw so.
Bio nso, nea wɔasusuw ho yiye robɔt track nhyehyɛe ɛsɛ sɛ wobu nneɛma a atwa yɛn ho ahyia no nneɛma a asɛe ho akontaa. Wɔ atɛkyɛ anaa anhwea tebea mu no, ɔkwan a wɔanhyehyɛ no yiye no betumi "asiw," na ɛde ahoɔden a ɛko tia no akɔ soro na awiei koraa no mfiri ayɛ jam. Nnɛyi nhyehyɛe ahorow no de nneɛma a ɛho tew ne ho te sɛ hyɛn gyinabea ahorow a atɛkyɛ fi mu ne lug nsusuwso a ɛyɛ ahinanan a efi awosu mu yi abo ne efĩ bere a kwan no di akɔneaba no ka ho. Ɛdenam mfiri mu nneɛma nketenkete yi a wɔde bedi kan wɔ bere a wɔreyɛ nhyehyɛe no mu so no, mfiridwumayɛfo betumi ahwɛ ahu sɛ robɔt no bɛkɔ so ayɛ adwuma wɔ tebea horow a ɛbɛma kar a ntwahonan a ɛwɔ amanne kwan so no ayɛ obubuafo mu.
Sɛnea Tank Treads a Wɔde Di Dwuma Ma Robɔt Ahorow Wɔ Asase a Ɛyɛ Den So no Tena Hɔ
Sɛ wɔde robɔt bi kɔ baabi a asiane asi anaa beae a wosi adan wɔ akyirikyiri a, ɛhwehwɛ sɛ ɛyɛ den a ɛte saa nkutoo tank treads a wɔde yɛ robɔt ahorow betumi de ama. Saa "continuous loop" locomotion kwan yi ma afiri no tumi soa n'ankasa kwan yiye, bridge gaps na di akwanside ahorow a anka ɛbɛkyere wheeled alternative. Mfaso titiriw a ɛwɔ tank treads so ne sɛnea etumi kyekyɛ robɔt no mu duru wɔ beae kɛse bi. Eyi mma afiri no ntumi nkɔ nneɛma a ɛyɛ mmerɛw te sɛ sukyerɛmma, anhwea, anaa atɛkyɛ a emu dɔ mu, na ɛma ɛyɛ nea wobetumi apaw koraa sɛ wɔbɛhwehwɛ asase nyinaa so.
Sɛnea ɛyɛ den sɛ tank treads a wɔde yɛ robɔt ahorow no nso wɔ wɔn awosu mu redundancy mu. Esiane sɛ robɔt no yɛ ahama a ɛtrɛw sen sɛ ɛbɛyɛ baabi biako a ɛbɛka ho nti, sɛ robɔt no betumi akura n’ani so sɛ mpo anammɔn no fã bi asɛe anaasɛ entumi nkura nsukyenee bi mu a. Saa ahotoso yi nti na nhyehyɛe ahorow a wɔde di akyi ne gyinapɛn a wɔde yɛ asraafo ne mfiridwuma mu nneɛma a ɛho hia kɛse no. Ɛdenam nhyehyɛe a wɔde tank-tread a wɔpaw so no, wɔn a wɔyɛ no de wɔn sika reto nhyehyɛe bi a wɔde nantew a ebetumi agyina wiase ankasa mu nsɛnnennen a wontumi nhu mu ano mu, na wɔahwɛ ahu sɛ robɔt no betumi awie n’adwuma a ɛmfa ho sɛnea ɛwɔ soro no.
Nneɛma Foforo a Wɔde Yɛ: Mfaso a Ɛwɔ Rubber Robot Tracks So
Bere a na abakɔsɛm mu kar ahorow a wɔde di akyi no de wɔn ho to dade a emu yɛ duru, ɛyɛ den, na ɛsɛe ade so no, nnɛyi robɔt adwuma no akɔ so ayɛ saa rɔba robɔt akwan . Tu a wɔatu akɔ elastomers a ɛyɛ adwuma yiye so no asesa sɛnea robɔt fa nneɛma a ɛwɔ dan mu ne abɔnten nyinaa mu. Wɔde vulcanization a ɛwɔ ntoatoaso pii na ɛyɛ saa akwan yi, na mpɛn pii no wɔde dade nhama anaa aramid nhama a ɛwɔ mu ka ho na ama wɔanya ahoɔden a ɛtwetwe a ɛho hia na wɔasiw ntrɛwmu wɔ adesoa ase.
Mfaso a ɛwɔ so rɔba robɔt akwan no wɔ afã horow pii. Nea edi kan no, wɔde vibration dampening a eye kyɛn so ma, a ɛho hia na wɔde abɔ ɛlɛtrɔnik mfiri a ɛyɛ mmerɛw a ɛwɔ hyɛn no mu te sɛ LiDAR ne mfoninitwa mfiri a ɛyɛ fɛ ho ban. Nea ɛto so abien no, "wɔnsɛe ade," a ɛkyerɛ sɛ wotumi fa adekoradan fam a wɔayɛ no fɛfɛɛfɛ mu a wonnyaw nsensanee anaasɛ wɔnsɛe nsu no ani. Nea ɛto so abiɛsa no, abɔde mu nsakrae a rɔba wɔ no ma kwan no tumi "kura" nneɛma a ɛyɛ torotoro te sɛ dade a ɛkɔ fam anaasɛ nnua a ɛyɛ nsu so. Saa sum ase sum ase, ahobammɔ, ne twetwe a wɔaka abom yi ma rɔba yɛ ade a ɛkorɔn sen biara a wɔde yɛ nnɛyi nneɛma a wɔde di dwuma wɔ ahofadi mu dodow no ara, efi ahobammɔ a wɔhwɛ so kosi ayaresabea a wɔde mmofra kɔ so.
Holistic Robot Track System a wɔde bɛka abom ama Peak Performance
Awiei koraa no, botae a ɛwɔ sɛ wɔbɛma wotumi akɔ baabiara yiye ne sɛ wɔbɛhwɛ ahu sɛ... robɔt track yɛ adwuma sɛ afiri no adwene ntrɛwmu a ɛnyɛ den. Eyi hwehwɛ sɛ wɔde nneɛma a wɔaka ho asɛm no nyinaa bom yiye. Nsɛm a wɔde yɛ rɔba robɔt akwan ɛsɛ sɛ wɔde ma ɛne nneɛma a atwa yɛn ho ahyia no hyew a wɔde yɛ adwuma no hyia; sẽ no ho nsɛm a ɛwɔ robɔt track ntwahonan ɛsɛ sɛ ɛne tread no nnyigyei hyia; ne ne nyinaa robɔt track nhyehyɛe ɛsɛ sɛ ɛma robɔt no akwantu ho ahiade pɔtee no yɛ mmerɛw.
Sɛ wɔde saa nneɛma yi hyia yiye a, nea efi mu ba ne robɔt asɛnka agua a ɛte nka sɛ ɛyɛ hare wɔ ne "nan" so ɛmfa ho sɛ ɛsoa adesoa a emu yɛ duru a mfaso wɔ so no. Ɛde adom a ɛyɛ komm na etu mpɔn a ɛbɔ ne tumi a ɛyɛ den no gu. Sɛ wode w’adwene si akwan a wɔfa so nantew ne ntwahonan a ɛfata a wobɛpaw so a, na woreyɛ pii sen keteke a wɔde ka kar a wobɛyɛ ara kwa; woreyɛ fapem a ɛbɛma ahofadi a wotumi de ho to so. Sɛ́ ebia wo robɔt no rehwehwɛ ɔbodan bi mu bun mu anaasɛ ɔrekyinkyin kurow no akyi kwan bi so no, sɛnea ne akwan no te no bɛyɛ nea etwa to a ɛbɛma wadi nkonim. Wɔ robɔt wiase a akansi wom mu no, ɛnyɛ ade a ɛma obi tumi tu kɔ baabiara a ɛkorɔn no yɛ ade bi kɛkɛ —ɛyɛ ahwehwɛde titiriw a ɛma mfiridwuma tumi fi aduruyɛdan mu kɔ nea ɔde di dwuma no asetra mu.
Nhyehyɛe ahorow a ɛde ne ho a ɛredɔɔso ntɛmntɛm wɔ mfiridwuma, aguadi, ne nhwehwɛmu mu no asi so dua foforo wɔ honam fam nhyehyɛe a wɔde yɛ kankyee no so.
