Pik Langwej . We disasta apin—ilɛksɛf na atkwek, di strɔkchɔ we dɔn fɔdɔm, ɔ kemikal we de mek i lik—di envayrɔmɛnt kin bi wan labirint we pɔsin nɔ go ebul fɔ no bɔt we gɛt dɔti we gɛt smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl. Insay dɛn ay-stek sɛnɛriɔ ya, bɔku tɛm di muvmɛnt fɔ di fɔs pɔsin we de ansa kin stɔp bikɔs ɔf di denja na dɛn bɔdi. Dis na di say we di spɛshal mɛkanik dɛn fɔ katapila trak fɔ rɔbɔt dɛn bi di rial fawndeshɔn fɔ di mɔdan sɔch ɛn rɛskɔ ɔpreshɔn. Nɔ lɛk wil kɔmpin dɛn we de strɛs wit ay sɛnt ɔ sink insay sɔft silt, a rɔbɔt trak sistem de gi di kɔntinyu sɔfa eria we nid fɔ tɔn wan mɛkanikal pletfɔm to wan ɔl-tɛrin sɔvayva.
Di Fɔndamɛnt Fiziks fɔ Kɔntinyu Rɔbɔt Tank Trak
Fɔ ɔndastand wetin mek a trak inspekshɔn rɔbɔt na di gold standad fɔ disasta rispɔns, pɔsin fɔ luk di distribyushɔn fɔ di grɔn prɛshɔn. Insay rɛskɔ mishɔn, di "grɔn" nɔ kin rili strɔng; bɔku tɛm na miks we dɛn miks wit grɔn we nɔ tayt, glas we dɔn brok brok, ɛn wet insuleshɔn. Wan rɔbɔt we gɛt wil kin kɔnsɛntret in wan ol mas pan 4 smɔl kɔntakt pat dɛn. Na dɔti we saf ɔ we nɔ ivin, dis ay prɛshɔn kin mek di wil dɛn dig insay, ɛn dis kin mek di rɔbɔt ankɔ fayn fayn wan na in ples.
Robot tank trak dɛn sɔlv dis tru di prinsipul fɔ lod spred. Bay we dɛn yuz wan kɔntinyu lɔp we di intanɛnt sproket dɛn de drɛb, di wet we di rɔbɔt gɛt de sheb akɔdin to di wan ol lɔng we di trak in futprin de. Dis lɔw grɔn prɛshɔn de alaw di mashin fɔ "flɔt" oba tin dɛn we go swɛla tradishɔnal taya. Dɔn bak, di mɛkanikal advantej we di rɔbɔt trak lay insay in lɔnjitudinal trakshɔn. Bikɔs bɔku "grousers" ɔ tred dɛn de in kɔntakt wit di sɔfa wan tɛm, di rɔbɔt kin ɛksɛrt signifyant drawbar pul, we de alaw am fɔ klaym oba kɔnkrit blɔk ɔ drɛg ebi ebi sɛns ɛn kɔmyunikeshɔn tɛda layn dɛn tru smɔl aperch.
Matirial Sayns ɛn di Shift to Rɔba Tank Trak fɔ Rɔbɔt dɛn
Insay di fɔs tɛm we dɛn bin de mek rɔbɔt, bɔku dizayn dɛn bin de lɛnt bɔku mɔni frɔm soja tank dɛn, ɛn dɛn bin de yuz ebi ebi stɛl link dɛn. Bɔt fɔ fɛn ɛn sev, wet ɛn vaybreshɔn na impɔtant ɛnimi dɛn. Di we aw pipul dɛn we gɛt ay trɛnk kɔmɔt rɔba tank trak fɔ rɔbɔt dɛn dɔn chenj di fil. Dɛn trak ya kin bi wit riinfɔs sɛntetik kɔmpawnd dɛn, bɔku tɛm dɛn kin ɛmbas wit intanɛnt stɛl ɔ Kevlar kɔd fɔ mek dɛn nɔ strɛch we dɛn de mek dɛn ebul fɔ chenj.
Di we aw dɛn kin pik rɔba nɔto jɔs fɔ ridyus di wet. Insay di say we pipul dɛn de luk fɔ pipul dɛn ɛn sev pipul dɛn na di siti (USAR), bɔku tɛm, rɔbɔt kin nid fɔ travul na say dɛn we nɔ izi ɔ we slipul, lɛk mabul we dɛn dɔn polish na lɔbi we dɔn fɔdɔm ɔ wet mɛtal pletin na faktri. Pan ɔl we mɛtal trak dɛn kin slip ɔ pwɛl di strɔkchɔral intɛgriti we lɛf na wan flɔ, . rɔba tank trak fɔ rɔbɔt dɛn gi wan ay kɔfishin fɔ frikshɔn. di elasticity fכ di rכba de alaw di trak fכ "kכnfכm" sכmtεm to di maykro-jכmetri fכ di dεbris, ifektivli "grip" di ed dεm fכ brik εn paip dεm. Dis "mechanical keying" na wetin de alaw a trak inspekshɔn rɔbɔt fɔ go ɔp stej ɔ fɔ go na say dɛn we nɔ gɛt bɛtɛ rɔb we nɔ gɛt bɛtɛ 45 digri we nɔ de slayv bak.
Navigational Geometry in wan Trak Inspekshɔn Rɔbɔt
A trak inspekshɔn rɔbɔt na smɔl tɛm nɔmɔ na jɔs bɔks we de pan tu bɛlt. di sofistikeyt mεkanik dεm involv "flippers" כ sab-track modules we de alaw di robot fכ chenj in shep dinamik wan. Dis na impɔtant tin we go ɛp pipul dɛn fɔ no bɔt di tin dɛn we de apin katapila trak fɔ rɔbɔt dɛn . We di rɔbɔt de artikul di pat dɛn we de bifo ɔ biɛn di trak, i kin ebul fɔ rich ɔp fɔ ol di edj fɔ wan ay ledj ɔ i kin ɛkstɛnd in wilbays fɔ mek wan big gap bitwin tu pat dɛn we dɔn fɔdɔm.
Dis jɔyometrik adaptabiliti de mek shɔ se di sɛnta fɔ graviti de kɔntinyu fɔ de insay di futprin fɔ di trak dɛn ivin we dɛn de manej bad bad wan. We dɛn de fɛn ɛn sev, bɔku tɛm di gol na fɔ deliv kamɛra ɔ kabɔn dayɔgzayd sɛns insay "void spɛs" usay di wan dɛn we dɔn sev kin trɔp. If rɔbɔt flip oba, di mishɔn kin dɔn. Di wayd stays ɛn lɔw profayl we inhɛrɛnt in rɔbɔt tank trak dɛn gi wan natura l stebul pletfɔm we nɔ de tip, ivin we di rɔbɔt de kɛr ebi ebi LIDAR ikwipmɛnt ɔ rɔbɔt an dɛn na in ɔp dɛk.
Fɔ Ɔvakom di Frikshɔn we Skid ɛn Stia in Robɔt Tank Trak dɛn
Wan pan di mɔs kɔmpleks mɛkanikal aspek dɛn fɔ rɔbɔt tank trak dɛn na di we aw dɛn kin stiar. Nɔ lɛk motoka dɛn we de yuz rɛk-ɛn-piniɔn stiarin fɔ tɔn wil, bɔku pan di rɔbɔt dɛn we dɛn trak kin yuz "skid-stiarin." Dis min se yu fɔ drayv wan trak fast pas di ɔda wan ɔ yu fɔ rivɛns wan trak we di ɔda wan de go bifo. Pan ɔl we dis de alaw fɔ mek wan ziro-tɔn rayus—we impɔtant na di tayt, klaustrofobik kɔnfyushɔn dɛn na wan bildin we dɔn fɔdɔm—i de mek big big lateral strɛs pan di rɔbɔt trak insɛf sɛf.
Di intanɛnt mɛkanik dɛn fɔ strɔng fɔ ebul fɔ handle dɛn shearing fɔs ya. Dis na di rizin we mek di intafeys bitwin di drayv sproket ɛn di trak lɔg dɛn na prɛsishɔn-ɛnjɛnɛri. Insay a trak inspekshɔn rɔbɔt , di "pitch" na di trak fɔ de kɔnsistɛns ivin ɔnda ay tɛnsiɔn fɔ mek i nɔ "de-tracking" (di trak fɔ fɔdɔm pan di wil dɛn). Bɔku tɛm, di mɔdan rɛskɔ rɔbɔt dɛn kin gɛt sɛlf-tɛnsiɔn sistem dɛn we kin yuz spring ɔ haydrolik aktyuator fɔ kip di katapila trak fɔ rɔbɔt dɛn taut, fɔ mek shɔ se ivin if rɔk lod na di drayv asɛmbli, di trak go kɔntinyu fɔ sidɔm ɛn wok.
Durability ɛn Maintenance ɔf Robɔt Tank Trak dɛn insay di Envayrɔmɛnt dɛn we Nɔ Gɛt
Di envayrɔmɛnt fɔ wan rɛskɔ mishɔn na kemikal ɛn fizik abrasive. Dɔst we de kɔmɔt na kɔnkrit we dɛn dɔn pul de wok lɛk sand pepa pan pat dɛn we de muv, ɛn wata we tinap kin rɔtin di bia dɛn we de insay. Di we aw dɛn mek am rɔba tank trak fɔ rɔbɔt dɛn כltεm i kin inkכrporεt "sεlf-klin" tred patεn dεm. Dɛn wan ya na angul grov dɛn we de yuz di natura fleks we di rɔba de fleks as i de rawnd di sproket fɔ pul dɔti ɛn smɔl ston dɛn we ɔda we go jam di mɛkanism.
Dɔn bak, di sial we di trak in insay rɔla dɛn gɛt rili impɔtant. Bikɔs a trak inspekshɔn rɔbɔt kin nid fɔ go insay di bɛsin dɛn we wata dɔn flɔd ɔ muv tru faya-sɔpreshɔn fɔm, di mɛkanikal pivot dɛn we de insay di trak freym kin kɔba bɔku tɛm insay O-ring sil. Di rɔbɔt trak de akt lεk di fכs layn fכ difεns, i de abzכp di impak we di jagged rebar εn brok glas de gi so dat di sεnsitiv ilektroniks we de insay di chεsis de stil protεkt frכm di vaylεnt vaybrεshכn dεm fכ di joyn.
We disasta apin—ilɛksɛf na atkwek, di strɔkchɔ we dɔn fɔdɔm, ɔ kemikal we de mek i lik—di envayrɔmɛnt kin bi wan labirint we pɔsin nɔ go ebul fɔ no bɔt we gɛt dɔti we gɛt smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl smɔl.
