{"id":858,"date":"2024-11-05T06:50:47","date_gmt":"2024-11-05T06:50:47","guid":{"rendered":"https:\/\/www.ziniulaisve.lt\/index.php\/2024\/11\/05\/svyruojanti-bet-tiksli-didelio-sukimo-momento-harmonic-drive-pavara\/"},"modified":"2024-11-05T06:50:47","modified_gmt":"2024-11-05T06:50:47","slug":"svyruojanti-bet-tiksli-didelio-sukimo-momento-harmonic-drive-pavara","status":"publish","type":"post","link":"https:\/\/www.ziniulaisve.lt\/index.php\/2024\/11\/05\/svyruojanti-bet-tiksli-didelio-sukimo-momento-harmonic-drive-pavara\/","title":{"rendered":"Svyruojanti, bet tiksli didelio sukimo momento Harmonic Drive pavara"},"content":{"rendered":"<p> <br \/>\n<\/p>\n<div>\n<p>Harmonin\u0117 pavara yra pagrindin\u0117 daugyb\u0117s robot\u0173 program\u0173 dalis. Ne\u012ftik\u0117tinai paprasta, bet gana keista \u017ei\u016br\u0117ti, \u0161i pavar\u0173 sistema yra itin tiksli ir pasi\u017eymi \u012fsp\u016bdingu sukimo momento ir svorio santykiu, net jei ji svyruoja. Taigi kaip tai veikia? <\/p>\n<p>I\u0161 pa\u017ei\u016bros keista \u201eHarmonic Drive\u201c pavara veikia gana genialiai \u2013 jos lanksti elips\u0117 apskritime sukuria svyran\u010di\u0105 judes\u012f, kai ji sukasi, ir tik ma\u017edaug tre\u010ddalis dviej\u0173 pagrindini\u0173 pavar\u0173 dant\u0173 lie\u010diasi su vienas kit\u0105 bet kuriame ta\u0161ke, ta\u010diau rezultatas yra nepaprastai kompakti\u0161ka ir lengva ma\u017ea pavara, galinti u\u017etikrinti puik\u0173 sukimo moment\u0105 ir absoliu\u010diai tiksliai, be jokios pavaros ar laisvo jud\u0117jimo. <\/p>\n<p>Pirm\u0105 kart\u0105 j\u012f 1957 m. sugalvojo Pensilvanijos atstovas C. Waltonas Musseris, nuostabiai k\u016brybingas i\u0161rad\u0117jas, turintis patent\u0173 viskam \u2013 nuo \u200b\u200bvairo stiprintuv\u0173 sistem\u0173, beatatrankini\u0173 \u0161autuv\u0173 ir pneumatini\u0173 gelb\u0117jimosi liemeni\u0173 prip\u016btimo priemoni\u0173 iki daugelio pagrindini\u0173 id\u0117j\u0173, kuriomis grind\u017eiamos reaktyvini\u0173 l\u0117ktuv\u0173 i\u0161metimo s\u0117dyn\u0117s. Harmonic Drive pirm\u0105 kart\u0105 buvo komercializuotas septintojo de\u0161imtme\u010dio prad\u017eioje. Jis pagamintas i\u0161 trij\u0173 pagrindini\u0173 komponent\u0173: <\/p>\n<div class=\"Enhancement\" data-align-center=\"\">\n<div class=\"Enhancement-item\">\n<figure class=\"Figure\">\n<div class=\"Image__wrapper\" data-template=\"Image\">\n    \n<\/div>\n<div class=\"Figure-content\"><figcaption class=\"Figure-caption\" itemprop=\"caption\">Gana paprasta: tik 3 dalys sudaro Harmonic Drive pavar\u0173 sistem\u0105<\/figcaption><p>Harmoninis diskas<\/p>\n<\/div>\n<\/figure><\/div>\n<\/p><\/div>\n<ul>\n<li>Bang\u0173 generatorius: \u0161iek tiek elips\u0117s formos \u012fvesties stebul\u0117 su rutuliniu guoliu aplink i\u0161orin\u012f kra\u0161t\u0105.  <\/li>\n<li>Lanksti linija: lankstus, puodelio formos komponentas su dantimis i\u0161oriniame perimetro. Jis deformuojasi radialiai, bet i\u0161laiko sukimo standum\u0105, kai \u012fdedamas pailgos bangos generatorius.  <\/li>\n<li>Apvalus \u012fdubimas: visi\u0161kai standus \u017eiedas su vidiniais dantimis, pana\u0161us \u012f planetin\u012f \u017eiedin\u012f krumpliarat\u012f, ir su dviem dantimis daugiau nei lanks\u010dioji linija.  <\/li>\n<\/ul>\n<p>Kai bang\u0173 generatorius sukasi, apie 30 % lanks\u010dios linijos dant\u0173 abiejuose galuose bet kuriuo metu lie\u010diasi su apskrito \u012fdubos dantimis, sudarydami tolimesn\u0119 bang\u0105. D\u0117l to lankstumo linija sukasi apskrito spline viduje, bet prie\u0161inga \u012fvesties kryptimi. Patikrinkite:<\/p>\n<div class=\"Enhancement\" data-align-center=\"\">\n<div class=\"Enhancement-item\">\n<div class=\"VideoEnhancement\" data-video-disable-history=\"\">\n<div class=\"VideoEnhancement-player\"><ps-youtubeplayer data-video-player=\"\" class=\"YouTubeVideoPlayer\" data-player-id=\"f1fce644d6a3142ecabb3b7d8b5a747b0\" data-video-id=\"479Xay-Ulrs\" data-video-title=\"Harmonic Drive\u00ae Strain Wave Gear: Functional Principle | The Original\">\n<p>    <iframe loading=\"lazy\" title=\"Harmonic Drive\u00ae Strain Wave Gear: Functional Principle | The Original\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/479Xay-Ulrs?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/ps-youtubeplayer>\n<\/div>\n<p>Harmonic Drive\u00ae \u012ftempimo bangos pavara: funkcinis principas | Originalas<\/p>\n<\/div><\/div>\n<\/p><\/div>\n<p>Dalis \u0161ios sistemos genialumo yra jos nulinis atstumas \u2013 tarp pavar\u0173 n\u0117ra laisvumo, tod\u0117l ji idealiai tinka tiksliam ir smulkiam variklio valdymui. Jo kompakti\u0161kas, lengvas dizainas taip pat puikiai tinka naudoti, kai erdv\u0117 yra ribota. O su nedaug judan\u010di\u0173 dali\u0173 Harmonic Drive yra labai patikimas ir patvarus.  <\/p>\n<p>\u0160iandien Harmoniniai diskai yra visur \u012fjungti ir <i>i\u0161jungti<\/i> planeta. Pramoniniai robotai, tokie kaip \u201eFanuc\u201c ir \u201eUniversal Robots\u201c, juos naudoja tokioms u\u017eduotims kaip suvirinimas ir surinkimas, kur pakartojamas, tikslus judesys yra labai svarbus.   <\/p>\n<p>\u201eDa Vinci\u201c chirurginis robotas, sukurtas minimaliai invazin\u0117ms proced\u016broms, remiasi \u201eHarmonic Drives\u201c savo rankose, suteikiant jam subtilius mikrojudesius be nulio, kad b\u016bt\u0173 galima pasiekti did\u017eiausi\u0105 tikslum\u0105, atliekant minimaliai invazines \u017emoni\u0173 operacijas.   <\/p>\n<div class=\"Enhancement\" data-align-center=\"\">\n<div class=\"Enhancement-item\">\n<figure class=\"Figure\">\n<div class=\"Image__wrapper\" data-template=\"Image\">\n    <img class=\"Image lazy\" alt=\"Bang\u0173 generatorius yra Harmonic Drive verslo tikslas\" width=\"850\" height=\"478\" data-image-size=\"articleImage\" loading=\"lazy\" data-srcset=\"https:\/\/assets.newatlas.com\/dims4\/default\/8e96505\/2147483647\/strip\/true\/crop\/850x478+0+0\/resize\/440x247!\/quality\/90\/?url=http%3A%2F%2Fnewatlas-brightspot.s3.amazonaws.com%2F80%2F1d%2Fda32ce3e425dab16e40f88121fe6%2Fharmonic-drive-woooble-large.gif 440w,https:\/\/assets.newatlas.com\/dims4\/default\/f404927\/2147483647\/strip\/true\/crop\/850x478+0+0\/resize\/800x450!\/quality\/90\/?url=http%3A%2F%2Fnewatlas-brightspot.s3.amazonaws.com%2F80%2F1d%2Fda32ce3e425dab16e40f88121fe6%2Fharmonic-drive-woooble-large.gif 800w,https:\/\/assets.newatlas.com\/dims4\/default\/2df7b0a\/2147483647\/strip\/true\/crop\/850x478+0+0\/resize\/1200x675!\/quality\/90\/?url=http%3A%2F%2Fnewatlas-brightspot.s3.amazonaws.com%2F80%2F1d%2Fda32ce3e425dab16e40f88121fe6%2Fharmonic-drive-woooble-large.gif 1200w,https:\/\/assets.newatlas.com\/dims4\/default\/3c5e8c1\/2147483647\/strip\/true\/crop\/850x478+0+0\/resize\/1920x1080!\/quality\/90\/?url=http%3A%2F%2Fnewatlas-brightspot.s3.amazonaws.com%2F80%2F1d%2Fda32ce3e425dab16e40f88121fe6%2Fharmonic-drive-woooble-large.gif 1920w\" data-src=\"https:\/\/assets.newatlas.com\/dims4\/default\/41328bb\/2147483647\/strip\/true\/crop\/850x478+0+0\/resize\/850x478!\/quality\/90\/?url=http%3A%2F%2Fnewatlas-brightspot.s3.amazonaws.com%2F80%2F1d%2Fda32ce3e425dab16e40f88121fe6%2Fharmonic-drive-woooble-large.gif\" sizes=\"auto, (min-width: 1240px) 800px, (min-width: 1024px) 95vw, 100vw\"\/>\n<\/div>\n<div class=\"Figure-content\"><figcaption class=\"Figure-caption\" itemprop=\"caption\">Bang\u0173 generatorius yra Harmonic Drive verslo tikslas<\/figcaption><p>Harmoninis diskas<\/p>\n<\/div>\n<\/figure><\/div>\n<\/p><\/div>\n<p>\u201eBoston Dynamics\u201c \u201eAtlas\u201c humanoidiniai ir \u201eSpot Quadruped\u201c robotai juos naudoja rankose ir kojose, be kita ko, kad pasiekt\u0173 skland\u0173, kontroliuojam\u0105 jud\u0117jim\u0105, b\u016bdami stipr\u016bs.<\/p>\n<p>Net NASA marsaeigiai \u201eCuriosity\u201c ir \u201ePerseverance\u201c turi \u201eHarmonic Drives\u201c robot\u0173 rankose ir ratuose. Marsaeigi\u0173 siuntimas \u012f kit\u0105 planet\u0105 be vilties sustoti technin\u0117s prie\u017ei\u016bros ar remonto metu yra \u0161io dizaino patikimumo ir ilgaam\u017ei\u0161kumo \u012frodymas.<\/p>\n<p>Nors Musseris niekada nepasteb\u0117jo, kol jo i\u0161radimas pasiek\u0117 Mars\u0105, jis bent jau mat\u0117, kaip jis i\u0161keliavo \u012f kosmos\u0105. \u201eHarmonic Drive\u201c buvo \u012fprastas standartin\u0117s \u201eSpace Shuttle\u201c nuotolinio manipuliavimo sistemos (dar \u017einomos kaip \u201eCanadarm\u201c) komponentas, naudojamas \u0161audykluose, tokiuose kaip \u201eColumbia\u201c ir \u201eChallenger\u201c, tvarkyti naudingus krovinius ir dislokuoti krovinius.   <\/p>\n<p>Pra\u0117jus beveik 70 met\u0173 nuo jo suk\u016brimo, \u0161is nuostabus i\u0161radimas, pasi\u017eymintis i\u0161skirtiniu, bet tikslingu \u201esvyravimu\u201c, ir toliau randamas \u012fvairiose srityse. Nuo tiksli\u0173 chirurgini\u0173 judesi\u0173 iki tolim\u0173 planet\u0173 tyrin\u0117jimo \u2013 Harmonic Drive genialumas slypi paprastume, patikimumu ir tikslumu.<\/p>\n<div class=\"Enhancement\" data-align-center=\"\">\n<div class=\"Enhancement-item\">\n<div class=\"VideoEnhancement\" data-video-disable-history=\"\">\n<div class=\"VideoEnhancement-player\"><ps-youtubeplayer data-video-player=\"\" class=\"YouTubeVideoPlayer\" data-player-id=\"ff38cd9f00e6a4ca6859d949ea25cf5a0\" data-video-id=\"3mWemlMEzFk\" data-video-title=\"Harmonic Drive\u00ae strain wave gear - zero backlash\">\n<p>    <iframe loading=\"lazy\" title=\"Harmonic Drive\u00ae strain wave gear - zero backlash\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/3mWemlMEzFk?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/ps-youtubeplayer>\n<\/div>\n<p>\u201eHarmonic Drive\u00ae\u201c \u012ftempimo bangos pavara \u2013 nulinis atstumas<\/p>\n<\/div><\/div>\n<\/p><\/div>\n<p>\u0160altinis: Harmonic Drive<\/p>\n<\/div>\n<p><script>\n  window.fbAsyncInit = function() {\n      FB.init({\n              appId : '38456013908',\n          xfbml : true,\n          version : 'v3.3'\n      });\n  };\n  (function(d, s, id){\n     var js, fjs = d.getElementsByTagName(s)(0);\n     if (d.getElementById(id)) {return;}\n     js = d.createElement(s); js.id = id;\n     js.src = \"https:\/\/connect.facebook.net\/en_US\/sdk.js\";\n     fjs.parentNode.insertBefore(js, fjs);\n   }(document, 'script', 'facebook-jssdk'));\n<\/script><br \/>\n<br \/><br \/>\n<br \/><a href=\"https:\/\/newatlas.com\/robotics\/harmonic-drive-gear-robotics\/\">Source link <\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Harmonin\u0117 pavara yra pagrindin\u0117 daugyb\u0117s robot\u0173 program\u0173 dalis. Ne\u012ftik\u0117tinai paprasta, bet gana keista \u017ei\u016br\u0117ti, \u0161i pavar\u0173 sistema yra itin tiksli ir pasi\u017eymi \u012fsp\u016bdingu sukimo momento ir svorio santykiu, net jei ji svyruoja. Taigi kaip tai veikia? I\u0161 pa\u017ei\u016bros keista \u201eHarmonic Drive\u201c pavara veikia gana genialiai \u2013 jos lanksti elips\u0117 apskritime sukuria svyran\u010di\u0105 judes\u012f, kai ji [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":859,"comment_status":"","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"categories":[5],"tags":[1061,1176,1782,1781,1780,1783,1779,1777,1778],"class_list":["post-858","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-robotika","tag-bet","tag-didelio","tag-drive","tag-harmonic","tag-momento","tag-pavara","tag-sukimo","tag-svyruojanti","tag-tiksli"],"aioseo_notices":[],"_links":{"self":[{"href":"https:\/\/www.ziniulaisve.lt\/index.php\/wp-json\/wp\/v2\/posts\/858","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.ziniulaisve.lt\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.ziniulaisve.lt\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.ziniulaisve.lt\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.ziniulaisve.lt\/index.php\/wp-json\/wp\/v2\/comments?post=858"}],"version-history":[{"count":0,"href":"https:\/\/www.ziniulaisve.lt\/index.php\/wp-json\/wp\/v2\/posts\/858\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.ziniulaisve.lt\/index.php\/wp-json\/wp\/v2\/media\/859"}],"wp:attachment":[{"href":"https:\/\/www.ziniulaisve.lt\/index.php\/wp-json\/wp\/v2\/media?parent=858"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.ziniulaisve.lt\/index.php\/wp-json\/wp\/v2\/categories?post=858"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.ziniulaisve.lt\/index.php\/wp-json\/wp\/v2\/tags?post=858"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}