Sistɛmu min bɛ kɛ ni masinw ye
Ni an y’a lajɛ masinw jɔcogo siratigɛ la, a ka c’a la, izini robow tilalen don robow ye minnu bɛ tugu ɲɔgɔn na ani robo minnu bɛ ɲɔgɔn ta. Robo seriyaliw ka jogo dɔ ye ko jirisun kelen lamagacogo bɛ jirisun wɛrɛ ka koordinatɛri bɔyɔrɔ Changer, k’a sɔrɔ aksidan kelen lamagacogo robo paralɛli kɔnɔ, o tɛ aksidan wɛrɛ ka koordinatɛri bɔyɔrɔ Changer. Industri robo fɔlɔw bɛɛ tun bɛ baara kɛ ni seriyali fɛɛrɛw ye. Fɛɛrɛ min bɛ tali kɛ ɲɔgɔn na, o ɲɛfɔlen don i n’a fɔ fɛɛrɛ dagalen-lupulu, min kɔnɔ, plateforme lamagannen ni plateforme jɔlen bɛ ɲɔgɔn sɔrɔ ni cakɛda kinematiki yɛrɛmahɔrɔnyalen fila ye a dɔgɔyalenba la, o fɛɛrɛ in bɛ ni hɔrɔnya degere fila walima ka tɛmɛ o kan, wa a bɛ boli ɲɔgɔn fɛ. Fɛnɲɛnɛma-minɛn min bɛ Taa ɲɔgɔn fɛ, o ye fɛn fla ye: bolokɔni ni bolokɔni. Bolo lamagacogo bɛ nɔba bila baarakɛyɔrɔ la, k’a sɔrɔ bolokɔni ye baarakɛminɛn ni farikoloba cɛ jɛɲɔgɔnya ye. Ni an y’a suma ni robow ye minnu bɛ ɲɔgɔn ta, nafaw bɛ robow la minnu bɛ ɲɔgɔn ta i n’a fɔ u ka gɛlɛya ka bon, u jɔcogo sabatili ka bon, u ka doni ta ka caya, u ka se ka doni ta ka caya, u ka micro- lamagacogo ɲuman ka bon, ani u ka lamaga doni ka dɔgɔn. Yɔrɔ latigɛli la, ɲɛfɛla ɲɛnabɔli min bɛ kɛ robo seriyaliw la, o ka nɔgɔn, nka a kɔfɛta ɲɛnabɔli ka gɛlɛn kosɛbɛ; o kɔfɛ, robo paralɛliw ta fan fɛ, ɲɛfɛla ɲɛnabɔli ka gɛlɛn, nka kɔfɛla ɲɛnabɔli ka nɔgɔn kosɛbɛ.
Drive System (Système de Drive) ye
Drive system ye minɛn ye min bɛ fanga Di masin structure system ma. Ka kɛɲɛ ni fanga sɔrɔyɔrɔ ye, bolifɛnw bɛ tila suguya naani ye: ji, fiɲɛ, kuran ani masin. Robo fɔlɔ minnu tun bɛ izini na, olu tun bɛ baara kɛ ni ji-minɛnw ye. Nka, gɛlɛyaw kosɔn i n’a fɔ bɔgɔbɔli, mankan, ani teliya dɔgɔya-teliya basigibaliya, ani fanga hakɛ camanba ni sɔngɔ gɛlɛnw, jibolisiraw bɛ baara kɛ sisan dɔrɔn robo belebelebaw kɔnɔ, minnu ka gɛlɛn, minnu bɛ baara kɛ ɲɔgɔn fɛ, robo minnu bɛ baara kɛ ɲɔgɔn fɛ, ani baara kɛrɛnkɛrɛnnen dɔw. Fiɲɛbɔlanw bɛ nafaw di i n’a fɔ teliyaba, sistɛmu jɔcogo nɔgɔman, ladonni nɔgɔya, ani musaka dɔgɔman. Nka, fiɲɛbɔlanw bɛ baara kɛ ni tansiyɔn dɔgɔmanw ye, o bɛ kɛ sababu ye ka yɔrɔ tigitigi sigili gɛlɛya, wa a ka c’a la, u bɛ kɛ dɔrɔn ka labanko fɛnw boli izini robow kɔnɔ. Fiɲɛ minɛlanw, silinda wulilenw, ani fiɲɛbɔlanw bɛ se ka kɛ labanfɛnw ye walasa ka doni cɛmancɛ ni doni fitinin baarakɛminɛn minɛ ani k’a lajɛ. Kuran bolifɛnw de ye bolifɛnw bolicogo ye min bɛ kɛ ka caya sisan. U ka jogo dɔw ye kuran sɔrɔli nɔgɔman ye, jaabi teliya, bolifɛn fanga belebele, taamasiyɛnw dɔnni nɔgɔya, u cicogo ani u baaracogo, ani se ka baara kɛ ni kɔrɔsili fɛɛrɛ suguya caman ye minnu bɛ se ka wuli ka bɔ u nɔ na. A ka c’a la, bolifɛnw bɛ baara kɛ ni stepper motɛriw walima servo motɛriw ye; direct drive moteurs fana bɛ kɛ, nka ninnu sɔngɔ ka gɛlɛn, wa u kunkanko ka gɛlɛn. Dɔgɔyali minnu bɛ Bɛn ni motɛriw ye, olu ye caman na harmonic reducers, cycloidal pinwheel reducers, walima planetary gear reducers ye. K’a sababu kɛ robo paralɛliw la, minnu ka kan ka kɛ ni sinsinni ye, motɛriw tali kɛra kosɛbɛ o baara in na.
Sensing Sistɛmu (Système de Sensation) ye
Robo in ka dɔnniya-minɛn bɛ kɔnɔna cogoya ni sigida kunnafoni suguya caman sɛmɛntiya ka bɔ taamasiyɛnw na ka kɛ kunnafoniw ni kunnafoniw ye, robo yɛrɛ walima robo wɛrɛw bɛ se ka minnu faamuya ani ka baara kɛ ni minnu ye. Ka fara masin hakɛw dɔnni kan minnu bɛ tali kɛ a yɛrɛ ka baarakɛcogo la, i n’a fɔ jiginni, teliya ani fanga, yecogo faamuyali fɛɛrɛ ye izini robo dɔnni yɔrɔ koloma ye. Servo yelenw bɛ baara kɛ ni kunnafoniw yelenw ye i n’a fɔ jaabi taamasiyɛnw walasa ka robo jɔyɔrɔ n’a jɔcogo kɔlɔsi ani k’a ladilan. Masina yecogo fɛɛrɛw fana bɛ kɛ kosɛbɛ jogoɲini na, baarakɛminɛnw dɔnni na, dumuniw tilatilali la, ani u foroko dilanni na. Sensɔrɔlan in bɛ Kɛ ni kɔnɔna ni kɛnɛma sensɛri moduluw ye; sensɛri hakilitigiw baara bɛ robo in ka taamacogo ɲɛ, a ka se ka ladamu, ani a ka hakilitigiya.
