Pehea e ʻike ai i ke kōkō ABB robot i hāʻule ʻole i kēia manawa?
Ua ‘ike mākou i kēia e hana ana ma ka ‘āina i nā makahiki o ka wā. Ua hana pono ka robot ABB ma ke kumuhana, a laila, i kēlā lā, ua ho‘okolohua ka hana o ka ‘ōpū i ka ‘ōpū, ua ho‘okolohua ka ala o ka holo, ua ho‘okolohua nā hana, a me ka hana o ka pāku‘i ‘ino o ka pāku‘i, a hānau i ka hō‘ākahi o ka holo ‘au, a hānau i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka hō‘ākahi o ka holo ‘au. E noho ana i ka......
E kūpono nō ‘o ia i nā hana o ka ‘ōpū, ka ho‘ouka, ka ho‘ouka a me ka ho‘ouka o kēia mau robot, a he wā lōʻihi ke ho‘ouka ma mua o ka hō‘ākahi o ka holo ‘au. I ka ‘ōlelo ‘ōlelo, e hōʻike ana i kēlā wā i mua o ka hō‘ākahi o ka holo ‘au, akā, he nui nā hale hana e manaʻo ana i kēia e like me ka ‘ōlelo ‘ōlelo, a e hoʻopau ana i kēia. 
O ke kaiāpōpō mua i lōkahi nui o ke kānaka e 'ike ai i ke pilikia, ʻo ia nei, “ʻaʻole ʻo ke robot i ka hāʻawi ʻana i nā hopena maikaʻi loa a i kēia manawa.”
He lōkahi kēia i ka mua o nā kīnaʻi mua. He mea hihia ke ʻike ʻana i kēia, no ka mea, ʻaʻohe wale nō ke kūkākūkā ʻana o nā ināhiana ma ka ʻaoʻao o ka gearbox i ka mua. ʻO kā lākou kūkākūkā ʻana i nā pilikia: kaulaʻi mua he leʻi pāʻani ʻia ka TCP, pehea i kau ʻia ka pāʻani; a laila e ʻimi i ka hana e ʻike ai i ka pono o nā kiko; a laila e ʻimi i ka encoder e ʻike ai he leʻi hewa i nā pulse; a hiki i ke kaulaʻi ʻana i ka leʻi hoʻopilikia o nā parametā o ka servo, a i ʻole he leʻi pāʻani ʻia nā kūlana. He ʻano lōkahi kēia mau kūkākūkā, a laila i ka huli ʻana i ka meter, ʻike ʻia ke kiʻi ʻana o kekahi axis he liʻiliʻi loa. He ʻano lōkahi kēia i nā robot hana i ka hana ʻana i ka pākaukau, i mua i kēia, he maikaʻi loa ka holo o ka pākaukau, akā i kēia manawa, he leʻi pono ke ʻano o ka pākaukau, he leʻi pono ke ʻano o ka ala o ka pākaukau, a i kēlā me kēlā hana ʻana i ka hana ʻana i ka pākaukau, he leʻi pono ke ʻano o ka holo. I kēnei manawa, i kēkahi manawa, ʻike nā kūʻai aku i ka pilikia i ka sistema ʻike, akā i kēia manawa, he pilikia o ka leʻi pāʻani ʻana o ka gearbox ma loko, a ʻaʻohe hana ʻano o ka lima i kēia manawa.
Ke kūʻē ʻana o ke kōʻelekini ABB, “backlash” e hānau a haʻahaʻa i ka manawa
O kēlā me kēia i kūʻai ʻana i ka hoʻomāmā ʻana e ʻike ana i ka waha “backlash”, nāna i ʻōlelo ʻia he pūʻulu i ke kūkū. ʻO ke kumu o ka mōkī e holo ana ma mua, akā ʻo ke kumu kūkū e hāʻawi i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kūkū i ke kū......
E kūkū ana nā pūʻulu o ka robot, i ka haʻo ʻana, e like me ka hānau ʻana o ka pōhaku!
I ka holo maikaʻi, he lōkahi kēia o ka lele o ka robot, he lele o ka mōkī o ka motor me ka lele maikaʻi o ka waihanga. He aha kēia? I ka wā e hoʻopāʻa ai ka pūʻulu o ka gear, e hoʻopāʻa kēia ka lele, e hoʻopāʻa kēia i ka lele o ka hōʻiliʻili o ka metal, a i kēia manawa, e hoʻopāʻa kēia i ka lele o ka ‘click click click click’, a i kēia manawa, e hoʻopāʻa kēia i ka lele o ka ‘low voice’ i ka hoʻouka a i ka hoʻomāmā, a i kēia manawa, e hoʻopāʻa kēia i ka lele o ka ‘knocking’ i loko o nā pūʻulu i kēia manawa. E nā kūpuna o nā kumu kūʻai i kēia ʻaoʻao, e ʻōlelo mai ana, “He lele ʻole kēia robot i kēia manawa.” I kēia manawa, ʻaʻohe hōʻike ʻeʻe, no ka mea, i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kēia manawa, he nui ka ʻano o ka pōhaku i kē......
I kēia manawa, i kūkākūkā ʻana i kēia, ua ʻike mākou i nā pilikia o nā pākaukau o nā wāhine i ka hale hana, a he mea nō hoʻi ke kumu i ke kūpono ʻana o ka wai. Ua hana nā hale ʻoihana i nā robot e lā ʻē aʻe, a ʻo ke kūpono ʻana a me ka hoʻomāmā ʻana i ka wai he mea kaula ʻole, ʻo ia hoʻi i nā kahua hana kahiko. Ua holo loa ka wā o ka hoʻokuʻi ʻana i ka wai, ʻaʻohe manaʻo i ke ao o nā pākaukau o ka wai, ʻaʻohe kekahi e mālama i ka ʻike ʻana i ka wai e kūʻē ana ma nā pākaukau, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai, a hana pū i ka wai e kūʻē ana ma ka wai......
He kōkua maʻalahi ke ʻike i ka hālāwai o ka hau.
Hiki iā ʻoe ke hoʻomākaukau e ʻimi i nā hau o nā pūʻulu o kēlā me kēia aʻa i kēlā manawa i hoʻoikaika ai ka robot. I nā kūlana māmā, he lōʻihi ka hau e hāʻawi ʻana, a ʻaʻohe pūʻulu e hāʻawi i ka hau maʻalahi maʻalahi i loko o nā pūʻulu ʻē aʻe. E kala mai i nā pūʻulu nui e hoʻohana ana i nā hana like o J2 a me J3; inā he hau maʻalahi kēlā pūʻulu i nā manawa hūnā, ʻo ia ka ʻano o ka hana ʻana i ka hana maʻalahi maʻalahi, ʻaʻohe lōʻihi o ka hōʻoilo, ua hewa nā pōkole, a i ʻole ua hoʻoikaika ʻia ma luna o ka hana ʻana. Ua hana nui nā pūʻulu i ka hau maʻalahi maʻalahi i nā manawa hūnā i kēia manawa, a laila ua paʻa. No laila, ua hāʻawi nā hale hana i nā wāhine a me nā kāne i nā pūʻulu o nā robot i kēia manawa, a he ʻano hana maʻalahi kēia, a hiki iā lākou ke ʻike i nā pilikia i kēia manawa i kēia manawa, a ʻaʻohe pili i ka hōʻoikaika ʻana o ka robot.
Ua hōʻoikaika nā robot ABB i ka hōʻoikaika, a nui nā pilikia ʻaʻohe pilikia liʻiliʻi!
Hiki iā ʻoe ke ʻike i ke kūlana holo kūpono a pau me ke kūkū liʻiliʻi i ka hoʻouka ʻana, a laila e kūkū i kēia manawa he mākahiʻi i ka hōʻohe ʻana, a ʻaʻohe pūnana o ka holo i ka holo ʻana i nā hauʻoli maikaʻi, me ke ʻano o ka holo he kūkū liʻiliʻi. ʻO nā kanaka nui e manaʻo ana he ʻole o ka hoʻonohonoho ʻana i ka hoʻololi o ka servo, akā inā hōʻoia ʻoe i ke ʻaʻohe pilikia o ka encoder, ʻaʻohe pilikia o ka motor, a ʻaʻohe hoʻololi ʻia nā parama, ala, i kēia manawa, he ʻole ka hana o ka hana o ka reducer. ʻO kēia i kēia manawa i nā joint e hoʻohana ana i nā RV gearbox, i kēia manawa, ke kūkū e hoʻomau ana mai i ke ʻaʻohe a i ke ʻaʻohe i ka wā e hoʻomau ai nā cycloid a me nā bearing, a hoihoi ʻole ka hana o ka hōʻohe ʻana.
A laila, he mea ʻeʻe aʻe ke ʻike ʻia—ka wai kūkū.
Ua 'ike au i nā hōʻano mākou, i kēia manawa i kākou e 'ike ana i kekahi pūʻulu wai ʻōlī i kū'ai mai ana mai i kekahi kūhiku o nā robot ABB, ka mahi mua o lākou he hoʻohana ʻana i kekahi kūkū e hoʻopaʻa ai, ʻōlelo mai ana, “maikaʻi kēnā, hiki iā ia ke holo.” Akā i ka ʻōlelo ʻana, ke hoʻouna mai nei ke wai ʻōlī i kēia manawa i kākou e hoʻomaopopo ai i kēia: ua hewa nā kūhiku, a me ke wai ʻōlī i loko e kū'ai mai ana i waho, a hiki i nā pilikia i waho e kū'ai mai ana i loko. Nā pūʻulu kōkō e pili ana i ka wai ʻōlī ʻole, ā, he ʻoi aku nō kēia i nā manawa e holo ana i kēlā lā āpau, no ka mea, ke kaha ʻana o ka wai ʻōlī he kahua, a hiki i ka hewa a me ka hewa ma mua. Hiki i nā pūʻulu kōkō e hoʻopau ʻia, akā no ka hewa o ka wai ʻōlī i ka wā lōʻihi, a hiki i ka hewa ʻāina i loko, a hiki wale nō i ka hoʻololi ʻana i kēlā pūʻulu kōkō kūpono.
E 'ike 'oe i kēnei: no ke aha nā robot o nā hānana ABB i kēia mau makahiki, e pili ana i ke kūlana o nā gearbox? Inā e hoʻomākaukau kākou i kēia, ʻo kēia he mea maikaʻi wale nō. He kīkī kūpono nō ke robot kūʻai aku, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī kūpono nō ke robot kūʻai aku i kēia mau hana i kēia mau lā āpōpō i kēia mau hana, a he kīkī...... (ʻO kēia he hōʻike ʻana i ka hāʻawi ʻana i nā hopena maikaʻi a i kēia manawa.)
He nui nā kānaka e hoʻomākaukau ana i kēia mau nīnau: 'Pēhea ke kūpono, e hoʻopau aku, a i ʻole e hoʻololi aku i kā mākou gearbox?'
O kā mākou ʻike ʻo ia, inā he ʻole ka hānau ʻana o ka pōkole o ka hānau ʻana, he ʻole ke kūkū ʻana i kekahi manawa, a i ʻole nō hoʻi ka hānau ʻana o nā kīwī o ka wai, i kekahi mau kūlana, hiki iā mākou ke hoʻopono i kēia e hoʻolālā i nā pōkole, nā kīwī o ka wai, a me ka hoʻoponopono hou i ka pōkole. Akā inā he ʻole ka hānau ʻana o ka hānau ʻana, he ʻole nō hoʻi ka hānau ʻana o nā pōkole i loko, he ʻole ka hānau ʻana o ka hānau ʻana, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻole ka hānau ʻana o ka hānau ʻana i loko, he ʻ......
No ka mea, i kēia manawa, he nui nō nā hana kūʻai aku i kōkua i kēia hoʻokaʻao, a ʻo nā hana ʻē aʻe i kēia manawa, ʻaʻole i paʻa i kēlā wā e hoʻopau ai i ke kūʻai ʻana i nā mea hewa, akā, e hoʻomau ana i ka hoʻopau ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻai ʻana i nā mea i kūʻ......
