Mokhoa oa ho khetha sesebelisoa se nepahetseng sa servo sa li-axis tse tharo bakeng sa lits'ebetso tse fapaneng tsa indasteri

Mokhoa oa ho Khetha Roboto e Nepahetseng ea Servo ea Axis tse Tharo bakeng sa Likopo tse Fapaneng tsa Indasteri

Servo ea Mahlakore a Mararo Roboto STataiso ea Likhetho: Litharollo tsa Motheo tsa Logic le tse Sebetsang bakeng sa Liindasteri tse Fapaneng

Leqhubung la tlhahiso e iketsang, liroboto tsa servo tse nang le li-axis tse tharo, ka ho nepahala ha tsona ho hoholo, botsitso bo phahameng, le ho tenyetseha ho matla, li fetohile mokokotlo oa tlhahiso liindastering tse kang tlhahiso ea lisebelisoa tsa elektroniki, likarolo tsa likoloi, thepa ea ho paka le lisebelisoa tsa bongaka. Leha ho le joalo, libaka tsa tlhahiso, lintho tsa ts'ebetso, le litlhoko tsa ho nepahala li fapana haholo liindastering. Ho khetha roboto e loketseng ka bofofu ha ho lebise feela tšebelisong e tlase ea lisebelisoa empa hape ho eketsa litšenyehelo tsa tlhahiso le ho ama katleho. Sengoloa sena se tla sekaseka litekanyetso tsa bohlokoa tsa khetho bakeng sa liroboto tsa servo tsa axis tse tharo ho latela litlhoko tsa indasteri, ho fana ka maano a nepahetseng a khetho le litšupiso tse sebetsang bakeng sa lik'hamphani liindastering tse fapaneng.

I. Litlhokahalo tsa Motheo li Lokela ho Hlakisoa Pele ho Khetho: Tlhahlobo ea Litlhoko tsa Indasteri

Ho khetha roboto ea servo ea li-axis tse tharo ha e le hantle ke taba ea "litlhoko tse lumellanang." Pele u tsepamisa maikutlo ho liparamente tsa lisebelisoa, ho bohlokoa ho utloisisa ka ho hlaka litlhoko tsa mantlha tsa indasteri. Litlhoko tse fapaneng tsa liindasteri tse 'ne tse latelang tse tloaelehileng li khetholla ka ho toba ts'ebetso ea khetho:

(I) Tlhahiso ea Lisebelisoa tsa Elektroniki: Ho Beha Pele ho Nepahetseng, Ho Leka-lekanya Boima bo Bobebe le Lebelo le Phahameng

Tlhahiso ea lisebelisoa tsa elektroniki e shebana le lits'ebetso tse kang likarolo tsa mohala oa thekeng, ho paka li-chip, le ts'ebetso ea PCB. Ts'ebetso tsena hangata li kenyelletsa lihlahisoa tsa litekanyo tse nyane (millimeter kapa esita le micron scale) le thepa e senyehang habonolo (joalo ka li-ceramics le polasetiki). Ka hona, litlhoko tsa indasteri li shebane le "ho nepahala ho hoholo + karabelo e potlakileng + bobebe": Mekhoa ea ho kopanya e hloka hore liroboto li fihlelle ho nepahala ha sebaka sa 0.01mm ho thibela tšenyo ea likarolo; lits'ebetso tsa tlhahlobo li hloka khafetsa ea ho tšoara e fetang makhetlo a mararo ka motsotsoana ho lekana potoloho ea mola oa tlhahiso; 'me boima ba roboto bo tlameha ho bolokoa ka tlase ho 50kg ho fokotsa mojaro bencheng ea mosebetsi.

(II) Likarolo tsa Likoloi: Ts'ebetso e boima e beha botsitso le ho tšoarella pele

Tlhahiso ea likarolo tsa likoloi e kenyelletsa lits'ebetso tse kang ho sebetsana le ho hata, ho kopanya enjene le ho tšoara mabili. Bongata ba likarolo tsa mosebetsi tse sebetsoang ke likarolo tsa tšepe tse boima ba lik'hilograma tse 'maloa ho isa ho tse makholo a lik'hilograma. Litlhoko tsa mantlha tsa indasteri ke **"mojaro o phahameng + botsitso bo matla + bophelo bo bolelele"**: ts'ebetso ea ho hata e hloka hore roboto e jare karolo ea mosebetsi ea 50-200kg le ho mamella ho thothomela le tšusumetso ea mochini oa ho hata; ts'ebetso ea ho kopanya e tlameha ho sebetsa ka ho tsoelang pele lihora tse fetang 16 ntle le ho hloleha, 'me nako e tloaelehileng pakeng tsa ho hloleha (MTBF) e tlameha ho fihla ho lihora tse fetang 10,000; ka nako e ts'oanang, e tlameha ho ikamahanya le maemo a rarahaneng a kang tšilafalo ea oli le lerōle sebakeng sa mosebetsi.

(III) Indasteri ea Liphutheloana le ea Thepa: E shebane le Bokgoni, e Hatella Maeto le ho Tsamaellana

Maemo a mantlha indastering ea liphutheloana le thepa a kenyelletsa ho kenya lipaleteng ka mabokoseng, ho hlopha ka potlako ho tlisa thepa, le ho paka lihlahisoa. Litlhoko li shebane le "maeto a malelele + ho lumellana ho hoholo + ho kopanngoa habonolo": Ho kenya lipaleteng ho hloka liroboto tse nang le leeto le otlolohileng la limithara tse 2-3 le leeto le otlolohileng la limithara tse 1.5-2 ho amohela ho bokellana ha mekhahlelo e mengata. Ho hlophisa ho hloka liroboto ho amohela thepa ea boholo bo fapaneng (10cm-100cm) le boima (0.1kg-50kg), 'me gripper e tlameha ho khona ho fetoha kapele. Ho feta moo, Roboto Me ka kopanngoa ka mokhoa o se nang sekoli le sistimi ea MES le ho hlophisa li-conveyor bakeng sa kemiso e iketsang.

(IV) Indasteri ea Lisebelisoa tsa Bongaka: Bohloeki Pele, Taolo e Tiileng ea ho Nepahala le Polokeho

Tlhahiso ea lisebelisoa tsa bongaka e kenyelletsa kopano ea syringe, ho bentša lisebelisoa tsa opereishene, le ho tlatsa meriana, ho beha litlhoko tse thata mabapi le bohloeki ba tikoloho ea tlhahiso (hangata Sehlopha sa 100-Sehlopha sa 1000), ho nepahala ha lisebelisoa le polokeho. Litlhoko tsa mantlha tsa indasteri ke "moralo oa kamore ea ho hloekisa + ho nepahala ho phahameng + ho latela melao." Roboto e tlameha ho ba le 'mele oa tšepe e sa hloekang le setlolo sa boemo ba lijo ho thibela tšilafalo ea lerōle. Ho nepahala ha sebaka nakong ea ts'ebetso ea ho tlatsa ho tlameha ho ba ka hare ho 0.02mm, ho netefatsa phoso ea tekanyo ea ≤0.5%. Ho feta moo, e tlameha ho feta litifikeiti tsa FDA, CE, le tse ling tsa indasteri ho fihlela maemo a tlhahiso ea lisebelisoa tsa bongaka.

II. Litekanyo tsa Khetho ea Motheo: Ho Bapisa ka ho Nepahetseng ho tloha ho Liparamitha ho ea ho Boemo

Kamora ho hlakisa ditlhoko tsa indasteri, tshebetso ya kgetho e rerilweng e lokela ho etswa ho latela diparamente tsa motheo tsa roboto ea servo ea li-axis tse tharoLitekanyo tse hlano tse latelang ke lintlha tsa bohlokoa bakeng sa khetho:

(I) Bokgoni ba ho Jara: Ho Bapisa Boima ba Mosebetsi le ho Boloka Polokeho e Ncha

Bokgoni ba mojaro ke ntlha ya bohlokwa ka ho fetisisa ya kgetho bakeng sa RobotoE tlameha ho baloa ho latela boima ba sebele ba sesebediswa sa ho sebetsa hammoho le boima ba gripper, mme moedi wa polokeho wa 10%-30% o lokela ho behelwa ka thoko ho thibela ho jara boima bo feteletseng, bo ka senyang sesebediswa kapa ba fokotsa ho nepahala.
Tlhahiso ea Lisebelisoa tsa Elektroniki: Boima ba mosebetsi hangata bo tloha ho 0.1-5kg, bo hlokang li-gripper tse bobebe (0.5-2kg). Roboto e nang le bokhoni ba ho jara boima ba 5-10kg, joalo ka letoto la Yamaha YK300R, ea khothaletsoa.
Likarolo tsa Likoloi: Lisebelisoa tse boima tsa mosebetsi (50-200kg) li hloka li-gripper tse thata (5-15kg), tse hlokang liroboto tse boima tse nang le bokhoni ba ho jara boima ba 60-250kg, joalo ka letoto la ABB IRB 4600.
Liphutheloana le Litlhophiso: Thepa e boima bo mahareng (5-50kg) e hloka li-gripper tse fetoloang (2-8kg), tse hlokang liroboto tse nang le bokhoni ba ho jara boima ba 50-100kg, joalo ka letoto la li-prime la KUKA KR 100 R3100.
Lisebelisoa tsa Bongaka: Mesebetsi e bobebe e nepahetseng (0.05-2kg) e hloka li-gripper tsa kamore e hloekileng (0.3-1kg), e leng se etsang hore liroboto tsa boemo ba kamore e hloekileng tse nang le bokhoni ba mojaro oa 3-5kg li lokele, joalo ka Fanuc LR Mate 200iD/7L.

(II) Ho Nepahala ha Sebaka: Tsepamisa maikutlo phosong e ka phetoang ha o ntse o hokahanya le ho nepahala ha mochini.

Ho nepahala ha ho beha ho arotsoe ka "ho nepahala ha ho beha ka botlalo" (ho kheloha pakeng tsa maemo a sebele le a sepheo) le "ho nepahala ha ho pheta-pheta" (ho kheloha pakeng tsa ho phethahatsoa ho pheta-phetoang ha ketso e tšoanang). Ea morao e na le tšusumetso e kholo botsitsong ba tlhahiso 'me e tšoaneloa ke tlhokomelo ea pele.

Tlhahiso ea Elektroniki: Ho paka le ho kopanya likarolo tsa chip ho hloka ho nepahala ho pheta-phetoang ha ≤±0.01mm. Mechini e nepahetseng haholo e nang le screw ea bolo le enjene ea servo ea khothaletsoa.

Likarolo tsa Likoloi: Ho hatakela, ho sebetsana le ho kopanya ka thata ho hloka ho nepahala ho pheta-phetoang ha ≤±0.1mm. Rake le pinion drive li ka fihlela tlhoko ena.

Lithuso tsa ho Paka: Ho paka le ho hlopha ho hloka ho nepahala ho pheta-phetoang ha ≤±0.5mm. Li-drive tsa lebanta tse tsamaellanang li fana ka katleho e kholoanyane ea litšenyehelo.

Lisebelisoa tsa Bongaka: Ho tlatsa meriana le ho kopanya lisebelisoa tsa opereishene ho hloka ho nepahala ho pheta-phetoang ha ≤±0.02mm. Ho kgothaletswa sistimi ya ho fana ka maikutlo a ho kenya khoutu e otlolohileng ka nepo.

(III) Sebaka sa Maeto: Ho Koahela Sebaka sa Mosebetsi le ho Ntlafatsa Tsela ea Motsamao

Sebaka sa maeto sa roboto ea servo ea li-axis tse tharo se kenyelletsa X-axis (e otlolohileng), Y-axis (ka pele le ka morao), le Z-axis (e otlolohileng). Sebaka sena se tlameha ho khethoa ho latela boholo ba tafole ea mosebetsi, sebaka sa ho sebetsana le mosebetsi, le moralo oa lisebelisoa ho netefatsa hore sebaka sohle sa mosebetsi se koahetsoe ha ho ntse ho qojoa tieho ea karabelo e bakoang ke maeto a feteletseng.
Tlhahiso ea Elektroniki: Boholo ba benche ea mosebetsi hangata ke limithara tse 1-2. Maeto a khothaletsoang a X-axis ke limithara tse 1.2-2, maeto a Y-axis ke limithara tse 0.5-1, 'me maeto a Z-axis ke limithara tse 0.3-0.8, joalo ka Estun ER10-1600.

Likarolo tsa Likoloi: Sebaka sa mohala oa khatiso ke limithara tse 2-3. Maeto a khothaletsoang a X-axis ke limithara tse 2.5-3.5, maeto a Y-axis ke limithara tse 1-1.5, 'me maeto a Z-axis ke limithara tse 1-1.8, joalo ka Yaskawa MPL160.

Lipakete tsa ho Paka: Bophahamo ba ho paka ke limithara tse 1.5-2. Maeto a khothaletsoang a X-axis ke limithara tse 2-3, maeto a Y-axis ke limithara tse 0.8-1.2, 'me maeto a Z-axis ke limithara tse 1.5-2.2, joalo ka letoto la Delta DRV90L.

Lisebelisoa tsa Bongaka: Boholo ba benche e hloekileng ke limithara tse 0.8-1.5. Maeto a khothaletsoang a X-axis ke limithara tse 1-1.8, maeto a Y-axis ke limithara tse 0.4-0.8, 'me maeto a Z-axis ke limithara tse 0.2-0.6, joalo ka Kollmorgen AKM Series.

(IV) Lebelo la Motsamao: Ho Ikamahanya le Dipotoloho tsa Tlhahiso, Ho Leka-lekanya Bokgoni le ho Nepahala

Lebelo la motsamao le kenyeletsa lebelo le phahameng ka ho fetisisa le ho potlaka le ho fokotseha ha lebelo. Lebelo le tlase le hlokahalang le tlameha ho balwa ho latela potoloho ea tlhahiso. Hopola kamano e fapaneng pakeng tsa lebelo le ho nepahala—ha lebelo le potlaka, ho ba thata le ho feta ho boloka ho nepahala. Ho fumana tekano pakeng tsa tse peli ho bohlokoa.

Tlhahiso ea Elektroniki: Potoloho ea mola oa kopano ke metsotsoana e 0.3-1 ka sengoathoana, e hlokang lebelo le phahameng ka ho fetisisa la roboto la 1.5-2 m/s ho X-axis le 1-1.5 m/s ho Z-axis, ka linako tsa ho potlakisa le ho fokotsa lebelo ≤ metsotsoana e 0.1.

Likarolo tsa Likoloi: Potoloho ea ho hatakela ke metsotsoana e 2-5 ka sengoathoana, ka lebelo le phahameng ka ho fetisisa la 1-1.5 m/s ho X-axis le 0.8-1.2 m/s ho Z-axis, le linako tsa ho potlakisa le ho fokotsa lebelo ≤ metsotsoana e 0.2.

Lipakete tsa ho Paka: Potoloho ea ho palleta ke likotoana tse 10-20/motsotso, ka lebelo le phahameng ka ho fetisisa la 2-3 m/s ho X-axis le 1.5-2 m/s ho Z-axis, le linako tsa ho potlakisa le ho fokotsa lebelo ≤ metsotsoana e 0.15.

Lisebelisoa tsa Bongaka: Potoloho ea ho tlatsa ke metsotsoana e 1-3 ka sengoathoana, ka lebelo le phahameng ka ho fetisisa la 0.8-1.2 m/s ho X-axis le 0.5-1 m/s ho Z-axis, 'me linako tsa ho potlakisa le ho fokotsa lebelo ≤ metsotsoana e 0.1 (ho nepahala ho etelloa pele).

(V) Ho Ikamahanya le Tikoloho: Ho Sebetsana le Maemo a Ikhethang le ho Netefatsa Bophelo ba Thepa

Libaka tsa tlhahiso li fapana haholo ho pholletsa le liindasteri. Boemo ba tšireletso le khetho ea thepa ea letsoho la roboto li ama ka ho toba botsitso ba lisebelisoa le bophelo ba tšebeletso. Lintho tsa bohlokoa tse lokelang ho nahanoa li kenyelletsa tekanyo ea IP le mefuta ea mocheso.

Tlhahiso ea Lisebelisoa tsa Elektroniki: Likamore tsa ho hloekisa (tse se nang lerōle le oli) li hloka tekanyo ea IP ea IP54 kapa ho feta, tse nang le matlo a alloy ea aluminium ho thibela ho bokellana ha motlakase o sa fetoheng.

Likarolo tsa Likoloi: Li-workshop tse nang le oli le lerōle li hloka tekanyo ea IP ea IP67 kapa ho feta, tse nang le libaka tsa senotlolo tse koetsoeng le sistimi ea ho tlotsa e iketsang.

Lipakete tsa ho Paka: Mocheso oa kamore le libaka tse omileng li hloka tekanyo ea IP ea IP54 kapa ho feta, 'me ntlo e phekotsoe mafome.

Lisebelisoa tsa Bongaka: Likamore tsa ho hlwekisa li hloka tekanyo ea IP ea IP65 kapa ho feta, moralo o sa shoeng ka lehlakoreng le le leng, le tšehetso bakeng sa ho bolaea likokoana-hloko mochesong o phahameng (mefuta e meng e ka mamella 121°C).

III. Tataiso ea ho Qoba Likotsi Tsa Khetho: Lintlha tsena li khetholla katleho ea khetho

Ntle le diparamitha tsa mantlha, dintlha tse latelang tse hlokomolohuwang habonolo hangata ke tsona tse bakang diphoso tse tlwaelehileng tsa kgetho mme di lokela ho qojwa:

(I) Ho Hlokomoloha ho Tsamaellana ha Gripper: Ho Bapisa Sebopeho sa Workpiece ho Qoba Liphetoho tsa Bobeli

Setshwantsho ke karolo e hokahanang ka ho toba le sesebediswa sa mosebetsi. Haeba sebopeho sa setshwantsho le sebopeho sa sesebediswa sa mosebetsi di sa tshwane, leha roboto e ka fihlella dipehelo, e ke ke ya sebetsa hantle. Mohlala, ditshipi indastering ya dieleketeroniki di hloka di-gripper tsa vacuum, dikarolo tsa tshepe indastering ya dikoloi di hloka di-gripper tsa pneumatic, mme mabokose indastering ya ho paka a hloka di-gripper tse nang le manala a mangata. Ha o kgetha roboto, kopa moetsi ho fana ka tharollo e felletseng ya "robot + gripper" ho qoba ditjeo tse eketsehileng tsa diphetoho tse tlang.

(II) Ho Hlokomoloha Bothata ba Kopanyo: Ho Kopanya le Mekhoa e Teng ho Fokotsa Litšenyehelo tsa ho Ikamahanya le Maemo

Likhamphani tse ling li shebana feela le ts'ebetso ea roboto ha li khetha roboto, li hlokomoloha kopanyo ea eona le ho lumellana ha eona le mela e seng e ntse e le teng ea tlhahiso. Ho bohlokoa ho hlakisa esale pele: Na roboto Na e tšehetsa liprothokholi tsa puisano tse tloaelehileng tse kang Modbus le Profinet? Na e ka kopanngoa le litsamaiso tsa ERP le MES? Na e lumellana le litekanyo tsa ho kenya tsa benche ea mosebetsi e seng e ntse e le teng? Ho khothalletsoa ho khetha moetsi ea fanang ka lits'ebeletso tsa kopanyo tse ikhethileng ho qoba nako ea ho se sebetse ha mohala oa tlhahiso ka lebaka la ho se lumellane ha sebopeho.

(III) Ho nyenyefatsa Tšebeletso ea Kamora Thekiso: Tsepamisa maikutlo ho Lebelo la Karabelo ho Netefatsa Tsoelo-pele ea Tlhahiso

Liroboto tsa servo tse nang le li-axis tse tharo ke disebediswa tse nepahetseng haholo, tse hlokang bokgoni bo phahameng ba botekgeniki bakeng sa tlhokomelo e tswelang pele le ho rarolla mathata. Ha o kgetha mohlala, nahana ka bokgoni ba tshebeletso ya ka mora thekiso ba moetsi: Na e na le dibaka tsa tshebeletso mmarakeng o rerilweng? Na nako ya karabelo bakeng sa ho rarolla mathata ke ≤ dihora tse 4? Na e fana ka thepa ya dikarolo tse setseng le ditshebeletso tsa tlhokomelo ya kamehla? Haholo-holo bakeng sa dikhamphani tsa kgwebo ya kantle ho naha, bokgoni ba tshebeletso ya ka mora thekiso ya kantle ho naha bo ama ka ho toba tshebetso e tlwaelehileng ya disebediswa mme bo hloka tlhahlobo e ikgethang.

(IV) Ho Phehella "Li-parameter tse Phahameng ka Bofofu": Khetha mehlala e ipapisitseng le litlhoko le ho laola litšenyehelo tsa theko

Likhamphani tse ling ka phoso li lumela hore "li-parameter tse phahameng li betere," tse fellang ka ts'ebetso e feteletseng ea lisebelisoa le litšenyehelo tse eketsehileng tsa theko. Mohlala, indastering ea ho paka, ho hlopha ho hloka feela ho pheta-pheta ha ±0.5mm. Ho khetha mohlala o nepahetseng haholo o nang le ho nepahala ha ±0.01mm ho tla eketsa litšenyehelo tsa theko ka ho feta 30%, ha ts'ebeliso ea 'nete e ka ba ka tlase ho 50%. Ha u khetha roboto, molao-motheo e lokela ho ba "ho fihlela litlhoko tsa mantlha." Ho lumella meeli e utloahalang li-parameter tse kang ho nepahala le lebelo ho lekane, 'me ha ho hlokahale hore u phehelle litlhaloso tse holimo ka bofofu.

IV. Lithuto tsa Nyeoe tsa Khetho ea Indasteri: Ho tloha Khopolo-taba ho ea ho Mokhoa

(I) Nyeoe ea 1: Tlhahiso ea Elektroniki - Mohala oa Kopano ea Mojule oa Khamera ea Selefouno

Litlhoko: Tšoara li-module tsa khamera tsa 0.2kg 'me u li kopanye bencheng ea mosebetsi ea bolelele ba 1.5m ka ho nepahala ha sebaka sa ±0.01mm le nako ea potoloho ea metsotsoana e 0.5 ka yuniti, tikolohong ea kamore e hloekileng.

Moralo oa Khetho: Khetha roboto ea servo ea li-axis tse tharo e nang le bokhoni ba ho jara mojaro oa 5kg le ho pheta-pheta ha ±0.008mm (joalo ka Estun ER5-1200), e kopantsoeng le sesebelisoa se bobebe sa vacuum gripper (se boima ba 0.8kg). Roboto e na le leeto la X-axis la 1.5m, Y-axis ea 0.8m, le Z-axis ea 0.6m. Lebelo le phahameng ke 2m/s ho X-axis le 1.5m/s ho Z-axis, le tšireletso ea IP54. Liphetho tsa Ts'ebetsong: Lisebelisoa li sebetsa ka karolelano ea lihora tse 16 ka letsatsi, ka sekhahla sa ho hloleha sa ≤0.1%. Sekhahla sa chai ea kopano se eketsehile ho tloha ho 95% (tlhahiso ea letsoho) ho isa ho 99.5%, e leng se fellang ka keketseho ea 40% ea katleho ea tlhahiso.

(II) Nyeoe ea 2: Likarolo tsa Likoloi - Mohala oa ho Tšoara Li-block tsa Enjene

Litlhoko: Tšoara boloko ba enjene ea 80kg pakeng tsa mela ea khatiso ea bolelele ba limithara tse 3 ka ho nepahala ha sebaka sa ±0.1mm. Sebetsa lihora tse 20 ka letsatsi tikolohong ea mosebetsi o nang le mafura.
Tharollo: Khetha roboto e boima e nang le li-axis tse tharo (joalo ka ABB IRB 6700) e nang le mojaro o boima oa 120kg le ho pheta-pheta ha ±0.08mm, e kopantsoeng le gripper ea pneumatic (e boima ba 12kg). Roboto e na le leeto la X-axis la 3.5m, Y-axis ea 1.2m, le Z-axis ea 1.8m. Lebelo le phahameng ke 1.2m/s (X-axis) le 1m/s (Z-axis). Roboto e fihlela tšireletso ea IP67 'me e na le sistimi ea ho tlotsa e iketsang. Liphetho tsa Ts'ebetsong: MTBF ea lisebelisoa e fihlile lihora tse 12,000, e eketsa bokhoni ba ho sebetsana le eona ho tloha likotoana tse 15/hora (tse hlokahalang ka letsoho) ho isa likotoana tse 60/hora, e felisa basebetsi ba robeli le ho boloka hoo e ka bang li-yuan tse 600,000 litšenyehelong tsa selemo le selemo tsa basebetsi.

(III) Nyeoe ea 3: Liphutheloana tsa Thepa - Mohala oa ho Hlopha oa E-commerce Express

Litlhoko: Ho hlopha liphutheloana tse potlakileng tse boima ba 0.5-30kg, tse koahelang lebanta la ho hlopha la bolelele ba limithara tse 2.5, ka ho nepahala ha sebaka sa ±0.5mm, nako ea potoloho ea likotoana tse 15 ka motsotso, le mocheso oa kamore, tikoloho e omileng.​
Kgetho ya Mohlala: Kgetha roboto ya di-axis tse tharo (jwalo ka KUKA KR 60 R2800) e nang le mojaro wa 50kg le ho pheta-pheta ha ±0.3mm, e tsamaisanang le gripper e fetolwang ya di-claw tse ngata (e boima ba 5kg). E na le leeto la X-axis la 2.5m, Y-axis ya 1m, le Z-axis ya 2m, lebelo le phahameng ka ho fetisisa la 2.5m/s ho X-axis le 2m/s ho Z-axis, tshireletso ya IP54, le tshehetso ya puisano ya Profinet.

Liphetho: Ho nepahala ha ho hlopha ho fihlile ho 99.8%, ho eketsa bokgoni ba ho hlopha letsatsi le letsatsi ho tloha ho dintho tse 5,000 ka letsoho ho ya ho tse 20,000, ho fokotsa diphoso tsa ho hlopha ka 80%, le ho nolofalletsa ho hokahanya data ka nako ya sebele le sistimi ya tsamaiso ya thepa.​

V. Kakaretso: Ntlha ea bohlokoa ea khetho ea mohlala ke "e thehiloeng tlhokong, e tsamaisoang ke liparamente."

Ho khetha roboto ea servo ea li-axis tse tharo ha se taba e bonolo ea ho bapisa liparamente. Ho e-na le hoo, e shebane le litlhoko tsa indasteri. Ka ho sekaseka maemo a tlhahiso, ho bapisa liparamente tsa bohlokoa, le ho qoba likotsi tsa khetho, re ka fihlela papiso e nepahetseng pakeng tsa ts'ebetso ea lisebelisoa le litlhoko tsa tlhahiso. Tlhahiso ea lisebelisoa tsa elektroniki e phehella "ho nepahala ho phahameng + lebelo le phahameng," likarolo tsa likoloi li hatisa "meroalo e boima + ho tšoarella," lisebelisoa tsa ho paka li shebana le "maeto a malelele + katleho," 'me lisebelisoa tsa bongaka li hatisa "bohloeki + ho latela melao" - litlhoko tsa mantlha tsa liindasteri tse fapaneng li khetholla mekhoa e fapaneng ea khetho ea mohlala.