Kwisi yose yiswe ibyimuka byimuka, byubatswe kugirango bizenguruke kuri dogere 360. Caster ni ijambo rusange, harimo ibyimuka byimukanwa hamwe na casters zihamye. Imashini ihamye ntabwo ifite imiterere izunguruka kandi ntishobora kuzenguruka mu buryo butambitse ariko ihagaritse gusa. Ubu bwoko bubiri bwa casters bukoreshwa muburyo bufatanije, kurugero, imiterere yikarito ni imbere yibiziga bibiri bihamye, inyuma yintoki hafi yo kuzamura ibiziga byombi byimuka.
Amateka yiterambere ryuruziga rusange arashobora guhera muntangiriro yikinyejana cya 20, kandi ifite uburyo bwinshi bwo gukoresha mumashanyarazi, robotike no gutwara abantu. Iyi ngingo izerekana amateka yiterambere ryibiziga rusange hamwe nicyerekezo cyiterambere kizaza.
Igishushanyo cya mbere cy’ibiziga rusange gishobora guhera mu 1903, cyatanzwe bwa mbere na injeniyeri wo muri Suwede Elke Ericson (Ernst Benjamin Ericson). Nyamara, urwego ruto rwikoranabuhanga muricyo gihe, gukora uruziga rwisi ntabwo bihagaze neza kandi neza bihagije. Kugeza mu myaka ya za 1950, umukanishi w’umutaliyani Omar Maizello yatanze igitekerezo gishya cy’ibiziga rusange, cyiswe “Omar universal wheel”, igishushanyo cyacyo gihamye kandi cyuzuye, ku buryo ibiziga rusange mu gukoresha inganda byatangiye gukoreshwa cyane.
Hamwe niterambere ridahwema ryikoranabuhanga, igishushanyo cyibiziga rusange nacyo gihora gitera imbere. Kugeza ubu, ibiziga rusange ku isoko bigabanijwemo ubwoko butatu: ubwoko bwumupira, ubwoko bwinkingi nubwoko bwa disiki. Umupira wubwoko bwumuzingi ugizwe nibice bito, bishobora kumenya kugenda neza. Inkingi yubwoko rusange yibiziga bigizwe na rubber nyinshi, zishobora kugenda mubyerekezo byinshi kandi bikwiranye nibintu biremereye. Ubwoko bwa disiki ya disiki, kurundi ruhande, igizwe nibisahani byinshi bigoramye byemerera imitwaro myinshi n'umuvuduko mwinshi.
Gimbals igira uruhare runini mu gukoresha inganda zigezweho, zikoreshwa cyane muri robo, ububiko bwikora hamwe na sisitemu y'ibikoresho. Byongeye kandi, zikoreshwa cyane mubijyanye no gutwara abantu, urugero nko mu mato no mu ndege, aho biteza imbere imikorere no kugenzura.
Iterambere rya gimbali ryagize udushya twinshi nikoranabuhanga. Hamwe niterambere ryubwenge bwa artile, kwiga imashini hamwe na tekinoroji ya sensor, gimbals izarushaho kugira ubwenge no guhuza n'imiterere. Kurugero, gimbal irashobora guhita ihindura ingendo zayo ukurikije ibidukikije hamwe nubutaka butandukanye binyuze mumashini yiga algorithms kugirango itezimbere imikorere no gukora neza. Byongeye kandi, gimbals irashobora kandi gukoresha ibikoresho byangiza ibidukikije nisoko ryingufu kugirango bigerweho neza kandi birambye.
Igihe cyo kohereza: Ugushyingo-27-2023