Ma "Universal casters" anonzi ma "movable casters", ayo akagadzirwa kuti abvumire kutenderera kwakatwasuka kwemadhigirii 360. Ma "Caster" izwi rekuti "movable casters" uye ma "fixed casters". Ma "fixed casters" haana chimiro chinotenderera uye haagoni kutenderera akatwasuka asi akamira chete. Marudzi maviri aya e "casters" anowanzo shandiswa pamwe chete, semuenzaniso, chimiro chengoro chiri pamberi pemavhiri maviri akagadzika, kumashure kwe "handrail" pedyo nekusimudzirwa kwevhiri re "movable universal" maviri.
Nhoroondo yekuvandudzwa kwevhiri repasi rose inogona kuteverwa kudzokera kumashure kusvika pakutanga kwezana remakore rechi20, uye ine mashandisirwo akasiyana-siyana mukushandiswa kwemaindasitiri, marobhoti uye kutakura. Chinyorwa chino chichasuma nhoroondo yekuvandudzwa kwevhiri repasi rose uye gwara rekuvandudza mune ramangwana.
Dhizaini yekutanga yevhiri repasi rose inogona kuteverwa kusvika mugore ra1903, iro rakatanga kurongwa naElke Ericson, mainjiniya wekuSweden (Ernst Benjamin Ericson). Zvisinei, tekinoroji shoma panguva iyoyo, kugadzirwa kwevhiri repasi rose kwakanga kusina kugadzikana uye kwakanyatsojeka. Kusvika kuma1950, makanika wekuItaly Omar Maizello akapa dhizaini itsva yevhiri repasi rose, inonzi "Omar universal wheel", dhizaini yayo yakagadzikana uye yakarurama, zvekuti vhiri repasi rose muindustrial automation rakatanga kushandiswa zvakanyanya.
Nekufambira mberi kwetekinoroji, dhizaini yevhiri repasi rose iri kuramba ichivandudzika. Parizvino, vhiri repasi rose riri pamusika rakakamurwa kuita mhando nhatu: rudzi rwebhora, rudzi rwekoramu uye rudzi rwedhisiki. Vhiri repasi rose remhando yebhora rine mabhora madiki akati wandei, anogona kuita kufamba kwakatsetseka. Vhiri repasi rose remhando yekoramu rine mavhiri akawanda erabha, anogona kufamba munzira dzakasiyana-siyana uye akakodzera zvinhu zvinorema. Vagadziri vedhisiki, kune rumwe rutivi, vane maplate akawanda akakombama anobvumira mitoro yakakwira uye kumhanya kwakakwirira.
MaGimbals anoita basa rakakosha mukushandiswa kwemaindasitiri kwemazuva ano, anoshandiswa zvakanyanya mumarobhoti, mawareji anongozvishandira uye masisitimu ekufambisa. Pamusoro pezvo, anoshandiswa zvakanyanya muchikamu chekufambisa, semuenzaniso mungarava nendege, uko anovandudza maneuverability uye control.
Kugadzirwa kwezvipenyu zvemagimbal kwave nekuvandudzwa kwakawanda kwetekinoroji. Nekuvandudzwa kwehungwaru hwekugadzira, kudzidza kwemuchina uye tekinoroji ye sensor, zvipenyu zvemagimbal zvichava zvakangwara uye zvinochinjika. Semuenzaniso, chipenyu chemagimbal chinogona kugadzirisa otomatiki kufamba kwacho zvichienderana nenzvimbo dzakasiyana-siyana kuburikidza nema algorithms ekudzidza kwemuchina kuti chivandudze maneuverability uye kushanda zvakanaka. Pamusoro pezvo, zvipenyu zvemagimbal zvemangwana zvinogonawo kushandisa zvinhu zvine hushamwari kune nharaunda uye masosi esimba kuti zviwane simba rakawanda uye kugara kwenguva refu.
Nguva yekutumira: Mbudzi-27-2023