Mawilo Apadziko Lonse: Kuchokera Kupangidwe Kufikira Kugwiritsa Ntchito

Universal casters ndi zomwe zimatchedwa zosuntha zosunthika, zomwe zimapangidwa kuti zilole kusinthasintha kwa madigiri 360. Caster ndi mawu wamba, kuphatikiza ma caster osunthika ndi ma caster osasunthika. Ma caster okhazikika alibe mawonekedwe ozungulira ndipo sangathe kuzungulira mopingasa koma molunjika. Mitundu iwiriyi ya ma caster nthawi zambiri imagwiritsidwa ntchito limodzi ndi, mwachitsanzo, kapangidwe ka ngolo ndi kutsogolo kwa mawilo awiri okhazikika, kumbuyo kwa handrail pafupi ndi kukwezedwa kwa mawilo awiri osunthika.

Mbiri ya chitukuko cha gudumu la chilengedwe chonse chikhoza kuyambika kumayambiriro kwa zaka za m'ma 1900, ndipo ili ndi ntchito zambiri zogwiritsira ntchito mafakitale, robotics ndi kayendedwe. Nkhaniyi ifotokoza mbiri yachitukuko cha gudumu la chilengedwe chonse komanso momwe chitukuko chikuyendera.
Mapangidwe akale kwambiri a gudumu lapadziko lonse lapansi amatha kuyambira 1903, yomwe idaperekedwa koyamba ndi injiniya waku Sweden Elke Ericson (Ernst Benjamin Ericson). Komabe, mlingo wochepa wa teknoloji panthawiyo, kupanga gudumu la chilengedwe chonse sikukhazikika komanso kulondola mokwanira. Mpaka zaka za m'ma 1950, makina a ku Italy Omar Maizello adapanga mapangidwe atsopano a gudumu, otchedwa "Omar universal wheel", mapangidwe ake ndi okhazikika komanso olondola, kotero kuti gudumu la chilengedwe chonse muzochita zamafakitale linayamba kugwiritsidwa ntchito kwambiri.
Ndi chitukuko chosalekeza cha teknoloji, mapangidwe a gudumu la chilengedwe chonse amakhalanso bwino. Pakadali pano, gudumu lapadziko lonse lapansi pamsika limagawidwa m'mitundu itatu: mtundu wa mpira, mtundu wa mzati ndi mtundu wa disk. Gudumu lamtundu wa mpira wapadziko lonse lapansi lili ndi tizigawo ting'onoting'ono zingapo, zomwe zimatha kuzindikira kuyenda kosalala. Mawilo amtundu wa Column amapangidwa ndi mawilo angapo a rabara, omwe amatha kuyenda mbali zingapo ndipo ndi oyenera kuzinthu zolemera kwambiri. Komano, zotengera zamtundu wa ma disc zimakhala ndi mbale zopindika zingapo zomwe zimalola kuti azinyamula komanso kuthamanga kwambiri.

Ma Gimbal amatenga gawo lofunikira pakupanga makina amakono amakampani, amagwiritsidwa ntchito kwambiri m'maloboti, malo osungiramo zinthu ndi makina opangira zinthu. Komanso, iwo chimagwiritsidwa ntchito m'munda wa zoyendera, mwachitsanzo pa zombo ndi ndege, kumene kusintha maneuverability ndi kulamulira.

Kukula kwa ma gimbal kwachitika zambiri zaukadaulo ndikusintha. Ndi chitukuko cha luntha lochita kupanga, kuphunzira makina ndi ukadaulo wa masensa, ma gimbals adzakhala anzeru komanso osinthika. Mwachitsanzo, gimbal imatha kusintha kayendedwe kake molingana ndi malo ndi malo osiyanasiyana kudzera pamakina ophunzirira makina kuti azitha kuyendetsa bwino komanso kuchita bwino. Kuphatikiza apo, ma gimbal amtsogolo amathanso kugwiritsa ntchito zida zoteteza zachilengedwe komanso magwero amphamvu kuti akwaniritse mphamvu zochulukirapo komanso zokhazikika.