Robot PCB yeHumanoid yeVatongi Vakabatana, Kuona, AI Compute uye Simba

MaPCB erobhoti emunhu mumwe chete ndiwo mamwe emabhodhi ane ma "electronics" akawanda mumarobhoti. Robhoti remunhu mumwe chete rinogona kunge riine ma "joint controllers" akawanda, ma "high-current motor drives", ma "force and torque sensors", makamera ekuona, maikorofoni, ma "tactile sensors", "central AI compute", "battery management", uye ma "compact interconnects" mukati me "human-scale mechanical envelope".

Gwaro iri rinotsanangura maPCB erobhoti anoonekwa semunhu kubva pamaonero einjiniya nekugadzira. Rinosanganisira midziyo yemagetsi yakagoverwa, central compute, perception, power architecture, mechanical integration, thermal limits, rapid iteration, uye production test. Rinotsivawo FAQ-style supplier-style yezvinyorwa nemibvunzo mipfupi yeindasitiri yakakodzera kutsvaga nekudzidzisa vatengi.

Chii Chinoita Kuti Marobhoti Emagetsi eHumanoid Ave Akasiyana

Basa muRobhoti System

Marobhoti emunhu ari pakati pemapuratifomu ane hunyanzvi hwemagetsi akawanda mumarobhoti. Robhoti remazuva ano rine hunyanzvi hwemagetsi hunosvika 20-40, masensa ekuona akawanda, kombiyuta inoshanda zvakanyanya yekuronga nekudzora, uye simba rebhatiri - zvese zvakarongedzwa mukati mechimiro chemunhu. Chii chinoita kuti hunyanzvi hwemagetsi hwemunhu huve hwakasiyana:

• Kudzora majoini akagoverwa: chinodzora chimwe chete cheservo pajoini. Zvigadzirwa zvemagetsi zvidiki, zvine huremu hushoma, uye zvinoshanda zvakanyanya.
• Kunzwa kwesimba uye torque: Kunzwa torque yemajoini pamwe nekunzwisisa simba remuviri. Zvinogonesa kufamba zvinoenderana nezvinodiwa.
• Komputa yepakati ine bandwidth yakakwira: kuronga, kunzwisisa, uye kubatanidza SoC kana GPU inoshanda zvakanyanya.
• Chiono nemaonero: makamera akawanda, dzimwe nguva kunzwa kudzika, dzimwe nguva kunzwa kubata.
• Battery simba: Chinangwa chenguva yekumhanya chinotora maminetsi makumi matatu kusvika maawa akati wandei. Kurema kwebhatiri uye kushanda zvakanaka kwesimba zvose zvakakosha.
• Compact packaging: Magedhi emagetsi anokwana mukati memakumbo. Magedhi emagetsi epakati anokwana mudumbu.

Njodzi Dzekugadzira Dzekudzora

Kune maPCB erobhoti anogadzirwa nemunhu, kuiswa kwesimba rekugadzira kunofanirwa kuitika usati waisa chinobatanidza, kugadzika kwenzvimbo, kupinda kwezvishandiso, nzira dzekupisa, uye nzira dzekushandisa harness zvamiswa. Kuchinja kunonoka kune izvi kunowanzo kukonzera kugadziriswazve kwemuchina, kugadziridzwa kwezvishandiso zvekuedza, kana kukanganisa kuvimbika kwaigona kudzivirirwa nekuongorora kwekutanga kweDFM.

Kusarudzwa kwezvikamu kunofanirwa kusanganisira mamiriro ehupenyu hwese, dzimwe nzira dzakatenderwa, kuwanikwa kwemapakeji, chiyero chekupisa, uye chiyero chekuchengetedza kana chekuparadzanisa kana zvichidikanwa. Marobhoti emunhu anowanzogara mukugadzirwa kana sevhisi kwenguva yakareba kupfuura zvigadzirwa zvemagetsi zvevatengi, saka njodzi yekuwanikwa isina kugadziriswa inova dambudziko rekutsigira munda, kwete dambudziko rekutenga chete.

Padanho rehurongwa, bhodhi rinofanira kutsanangurwa zvichienderana nebasa, nharaunda, hupenyu hwese, uye kufukidza bvunzo kwete nehurongwa chete. Izvi zvinodzivirira kukanganisa kwakajairika pakuvaka PCB yakarurama iyo yakaoma kugadzirisa, yakaoma kugadzirisa, kana isina kusimba zvakakwana kana yaiswa murobhoti.

Magetsi emagetsi akabatana anofanirwa kuongororwa zvichienderana nekugadzirwa kwePCB yekudzora marobhoti , dhizaini yePCB yemutyairi weactuator , uye bhajeti yekupisa yegetsi remakanika.

Joint Controller Electronics

Sarudzo Dzakakosha dzeMagadzirirwo eMagetsi eJoint Controller

Makombiyuta emagetsi anotonga pamwe chete pavanhu anowanzo batanidza mota, encoder, uye kutaurirana mupakeji diki. Zvinhu zvikuru zvinofanira kufungwa nezvazvo ndeizvi:

• Compact form factor: Chinodzora chejoini chinokodzera mukati meimba yeactuator. Chimiro chePCB chakatenderera kana kuti chakareba chakafanana.
• Kutyaira kwemota pajoini: Dhiraivha yeBLDC kana PMSM ine FOC. Chinongedzo che encoder chekutonga kwe closed-loop.
• Kunzwa kwetorque: Chiyero che strain gauge kana reaction torque sensor chakabatanidzwa ne joint. Signal conditioning pane joint controller.
• Kukurukurirana: EtherCAT kana protocol yakafanana neyakagadzirirwa kumutungamiriri wepakati.
• Thermal management: chinodzora majoini munzvimbo inodziya ye actuator. Kupisa kuri kupararira kuburikidza nechimiro.
• Cable uye connector: Simba pamwe nekutaurirana pamwe nekuchengetedzwa kwetambo imwe chete pajoini. Kuchinjika kwetambo kwakakosha.

Kugadzira uye Kuvimbika Kufunga

Kuvimbika kunoenderana nekuchengetedza mipendero yakagadzirwa mubhodhi: upamhi hwemhangura, nzvimbo yekuparadzanisa, kuderedzwa kwekupisa, kuchengetwa kweconnector, kubviswa kwezvikamu, uye kufukidza kwekuongorora. Kugadzira kunofanirwa kuongorora hunhu uhwu pachinzvimbo chekubata PCB semusanganiswa wegeneric ne generic pass/fail test.

Kugona kushanda kunofanirwa kutariswa kuburikidza nema connectors ane mazita, nzvimbo dzekuyedza dziri nyore kuwana, ma clear board variants, uye serial-number tracking. Kana robhoti ikakundikana kushanda, kuongororwa kwakanaka kwebhodhi kunoita kuti timu yebasa ikwanise kuona dambudziko nekukurumidza pane kutsiva ma assemblies makuru kana kudzorera robhoti rese.

Mutemo unoshanda ndewokusarudza chivakwa chiri nyore chinoramba chichienderana nechiratidzo, kuchengetedzeka, kupisa, uye zvinodiwa nekanika. Kunyatsotsanangura zvinhu kunowedzera mutengo, nepo kusatsanangura zvinhu kuchiita kuti pave nekuvandudzwa panguva yekuyedza kana kuiswa kwechinhu mumunda.

Central Computing yeKuronga neKubatanidza

Sarudzo Dzakakosha dzeKugadzira Makomputa eCentral pakuronga nekubatanidza

Central compute pamusoro pema "humanoids" inobata basa repamusoro-soro rekuronga, kunzwisisa, uye kubatanidza. Mapuratifomu emazuva ano anoshandisa "AI compute" yakakosha. Zvinhu zvikuru zvinofungwa nezvazvo ndeizvi:

• Chikurumidziso cheAI: Mamodheru ekuona uye maitiro eGPU kana NPU. Zvakajairika pavanhu vechizvarwa chemazuva ano.
• Kuona kwemakamera akawanda: kudzika kwe stereo, panoramic vision, kana makamera anoenderana nebasa. Ma interfaces e multi-gigabit.
• Kusanganiswa kweIMU ne sensor: IMU yakanyatsogadzirwa kuti ienzanise; kusanganiswa kwemasensa kunobatanidza IMU nemhinduro yemajoini uye kuona.
• Kurongeka kwemafambiro: Kudzora kwakarongeka kwemajoini akawanda. Nguva chaiyo inoenderana nechiyero chekilohertz.
• Kukurukurirana: kutaurirana kwekunze kusina waya pamwe chete nemabhazi emukati ane waya.
• Kuchengetedza: magwaro, mamapu, mamodheru, uye ruzivo rwemashandisirwo pa eMMC kana SSD.

Kugadzira uye Kuvimbika Kufunga

Kuongororwa kwebvunzo kunoyera zvinodiwa nekuvimbika. Mafomu ekushandisa evatengi anoda kufukidzwa kushoma pane eindasitiri; eindasitiri asingade zvekurapa; ezvehutano asingade zvekuchengetedza. Kuenzanisa kufukidzwa kwebvunzo nezvinodiwa chaizvo kunochengetedza bhajeti remari ukuwo kuchipa vimbiso inodiwa nemunyoreri.

Magwaro ekugadzira anowanzo shandiswa mari shoma panguva yekugadzira uye anodhura kuvaka kare. Zvinyorwa zvebvunzo zvepayuniti imwe neimwe zvakatorwa panguva yekuferefetwa kwekutsigira kugadzirwa kwemakore akawanda gare gare; kuteverwa kwezvikamu zvezvikamu kunotsigira kuongororwa kwezvakadzoka mumunda mushure mekufa. Mapurogiramu anoronga magwaro nekukurumidza ane zvinyorwa zvaanoda; mapurogiramu anowedzera magwaro gare gare anowanzo rasikirwa nedata raangadai aida.

Mabhodhi ekuona anoda data rakachena kubva kumasangano e sensor interface uye nzira inodzorwa yekutarisa paPCB yekamera yekuona.

Maonero: Chiono, Ruzha, Kubata, IMU

Sarudzo Dzakakosha Dzekugadzira Maonero

Kuona zvinhu zvakaita semunhu kunowanzo batanidza nzira dzakasiyana-siyana dzekunzwa. Nzira huru dzekuona zvinhu dzakadai se:

• Chiratidzo: makamera e stereo, makamera e panoramic, kana makamera e fisheye. Dzimwe nguva makamera e depth.
• Audio: maikorofoni arrays yekuziva kutaura uye nzvimbo yeruzha.
• Tactile: Zvinogonesa kuti ma sensor ekubata ashande zvakanaka pamaoko nemuviri. Zvinogonesa kutaurirana kwakachengeteka.
• Simba uye torque: torque yemajoini pamwe nekuona simba rekupedzisira.
• IMU: Kuongororwa kwechimiro chemuviri. Pamwe chete nemhinduro yenhengo dzemuviri kuti muviri wese uve sei.
• Kuswedera pedyo: ultrasonic kana infrared yekuona zvipingamupinyi zviri pedyo.

Kugadzira uye Kuvimbika Kufunga

Kuonekwa kwecheni yekugovera zvinhu panguva yekugadzira kunokanganisa mutengo nekuvimbika. Vagadziri vane kugona kwekutsvaga zvinhu vanotora nzira dzekugovera zvinhu izvo zvaizokonzera kumira kwekugadzira; vagadziri vasina kuwana zvinhu vanopfuudza matambudziko ekupa zvinhu kune vatengi. Kukosha kwekutsvaga zvinhu kunonyanya kukosha panguva yekushaikwa kweindasitiri uye kwakaderera panguva yekugadzikana kwekupa zvinhu.

Kudzokorora kugadzira kunobatsirwa nemhinduro dzakasimba dzekugadzira. Mubatsiri wekugadzira anopa mhinduro dzeDFM nekukurumidza anobvumira kukurumidza kudzokorora; mubatsiri anopa mhinduro dzinononoka kana dzisinganyanyi kukosha anononotsa kudzokorora zvichienderana. Mapurogiramu anosarudza vabatsiri vekugadzira zvishoma nezvishoma pamhando yemhinduro anowanzo pfuura nepakati pechikamu chemuenzaniso nekukurumidza kupfuura mapurogiramu anosarudza pamutengo wakaderera chete.

Mamodule epakati ekuverenga neakabatana anofanirawo kuenderana nechikamu chesimba remarobhoti akagoverwa kuitira kuti kudonha kwemagetsi uye maitiro ekudzoreredza magetsi zvigone kufanotaurwa.

Magadzirirwo Emagetsi Ekushanda Nebhatiri

Sarudzo dzeMagadzirirwo eMagetsi eMashandiro Anoshandisa Bhatiri

Magadzirirwo esimba pamagetsi evanhu anobatanidza huremu hwebhatiri nenguva yekushanda. Zvinhu zvikuru zvinofanira kufungwa nezvazvo ndeizvi:

• Sarudzo yebhatiri: lithium-ion yehuwandu hwesimba. NMC kana NCA chemistry standard pa current humanoids.
• Kugovera magetsi: njanji dzakawanda; simba rekufamba rakasiyana nesimba rekuverenga. Inobvumira kudzima kwekusarudza kwekutonga simba.
• BMS: Kutarisirwa kwemapaketi kwakabatana pamwe nekutarisa nekuchengetedza masero.
• Kutengesa: kungave kuchaja kwekunze kana kuchaja wega. Kugona kuchaja nekukurumidza dzimwe nguva kunokosheswa.
• Kutarisira kwakamira: nzira dzekumuka nekurara kuti bhatiri rigare kwenguva refu panguva yekusashanda.
• Kuronga bhajeti yemagetsi: Saizi yekushandiswa kunoenderera mberi kana kuti kwakanyanya kusarudzwa ndiyo inosarudza kutengeserana kwenguva yekumhanya kana kuti kugona kukuru.

Zvinodiwa zvekusimbisa zveMagadzirirwo eMagetsi ekushanda neBattery-Powered

Hupfumi hwebhandi revhoriyamu hunokanganisa sarudzo dzakakodzera dzemaitiro akasiyana pamatanho akasiyana ekugadzira. Maitiro anodzosera pamayunitsi 100,000 pagore haawanzo dzosera pamayunitsi 500; maitiro ane musoro paprototype haawanzo nzwisisika pahuwandu hwakawanda. Kuenzanisa nzira yekugadzira nehuwandu chaihwo hwekugadzira ndiko kunoita kuti bhandi rega rega revhoriyamu ribudirire mune zvemari.

Mitemo yekupa zvitupa inosiyana zvakanyanya zvichienderana nekushandiswa uye musika. Humbowo hwekugadzira hunotsigira kutumira kwevatengi hunogona kubva pane zvishoma (zvigadzirwa zvevatengi mumisika isina mutemo) kusvika kune yakakura (midziyo yekurapa ine nguva shoma yekuchengeta). Mapurogiramu anotsanangura zvinodiwa zvechitupa pamutengo anogadzira kugadzirwa nemazvo; mapurogiramu anowedzera zvinodiwa zvechitupa gare gare dzimwe nguva anoda shanduko dzemaitiro.

Zvipingamupinyi zveKubatanidzwa kweMichina

Sarudzo Dzakakosha Dzekugadzira Zvipingamupinyi Zvekubatanidza Michina

Kubatanidzwa kwemakanika kazhinji ndicho chinhu chinonyanya kukanganisa magetsi emunhu. Magedhi emagetsi anokwana mukati mezvigadziko zvemagetsi; magedhi emagetsi epakati anokwana mudumbu; nzira dzekubatanidza matambo nepakati pemakumbo. Zvinhu zvikuru zvinofungwa nezvazvo ndeizvi:

• Kuchinjika kwebhodhi: Maumbirwo asina rectangular anoenderana nehamvuropu yemakanika. Yakajairika pazvinodzora majoini.
• Nzira yekupisa: kutamiswa kwekupisa kubva kumagetsi kuenda kuhukuru hwechivakwa. Dzimwe nguva kugona kutonhora kushoma.
• Kudedera uye kuvhunduka: Kufamba kwemunhu kunoita kuti zvinhu zvemagetsi zviwedzere kushushikana.
• Dhizaini yetambo: Tambo dzinochinjika dzinoramba dzichifamba-famba kakawanda. Kubatanidzwa kwakasimba-kuchinjika kwakajairika.
• Serviceability: nyore kuwana magetsi ekugadzirisa. Shandurai nekurongedza kudiki.
• Bhajeti yehuremu: Giramu rega rega rinoverengwa pamapuratifomu evanhu. Kusarudzwa kwezvikamu kunosanganisira kutariswa kwehukuru.

Kugadzira uye Kuvimbika Kufunga

Kugadzirwa kwakabatana kwemugadziri mumwe chete kunochengetedza ruzivo rwemasangano runounganidzwa muzvizvarwa zvezvigadzirwa. Mubatsiri akavaka zvizvarwa zvakawanda zvezvigadzirwa zvakafanana anoziva matambudziko chaiwo anomuka, shanduko dzemaitiro dzinovandudza goho, maitiro ekugadzira anogadzira zvakanaka. Ruzivo urwu haruendeswe kune vabatsiri vatsva pasina muripo.

Kuenderera mberi kwekukurukurirana kweinjiniya nekugadzira zvinhu kunovandudza hukama pakati pezvigadzirwa nevatengesi nekufamba kwenguva. Kuburitsa ruzivo rwunodzokera kuinjiniya kunoita kuti pave nekugadziriswa kwedhizaini; ruzivo rwekudzoserwa kwedata rwunodzoka runobatsira pakuvandudzwa kwedhizaini nekugadzirwa kwezvinhu. Mapurogiramu ari kushanda pakukurukurirana uku anovandudza muzvizvarwa zvezvigadzirwa.

Kuti uwane sarudzo dzekugadzira dziri pedyo, ona servo neBLDC controller PCB yekubatanidza marobhoti uye PCB yekamera yekuona marobhoti kuti uone kana munhu ari munhu.

Kugadzira maPCB eHumanoid Robot kuHighleap

Ongororo yeDFM Usati Wagadzira

Highleap inogadzira marobhoti emagetsi anogadzirwa nevanhu zvichienderana nezvinodiwa nemarobhoti akawanda. Hunhu hwacho hunosanganisira:

• Mabhodhi eCompact form-factor: magadzirirwo asina rectangular, HDI yakagadzirwa, SMT yakatsetseka.
• Kubatanidzwa kwakasimba-kuchinjika: zvikamu zvekuchinjika zvekubatanidza majoini. Kuvakwa kwekuchinjika kwakasimba uye kunochinja-chinja.
• Kurongeka kwemabhodhi akawanda: kugadzira mapuranga akawanda akafanana anodiwa pakuvaka majoini akagoverwa.
• PCBA diki: nzvimbo yakakura ine hunhu hwakanyanya uye ine hunyanzvi hwekuita zvakanaka.
• Kugadzira makomputa epakati: Mabhodhi ekufambisa eAI ane impedance inodzorwa uye manejimendi yekupisa.
• Rutsigiro rwekubatanidzwa: bvunzo yemabhodhi akawanda uye kuvakwa kwemabhokisi ekugadzira ma subassemblies emagetsi akazara akafanana nevanhu.

Kuedza, Kutevedza, uye Kugadzwa Kwebasa

Nzira yekugadzira marobhoti inosanganisa maitiro kubva muzvikamu zvakasiyana-siyana zvemagetsi zvechinyakare. Kubva kumagetsi evatengi — kurangwa kwemitengo uye kugadzirwa kwehuwandu. Kubva kumagetsi eindasitiri — kuvimbika kwemainjiniya uye hupenyu hwebasa hurefu. Kubva kumagetsi emotokari — kudedera uye kushivirira nharaunda. Kubva kumagetsi ekurapa — magwaro uye kutevedza. Marobhoti anobatsirwa nekubatanidza izvi.

Zvirongwa zvinoona kugadzira zvinhu senzira yekutarisira - kuisa mari muhukama hwevatengesi, kugovana ruzivo rwekufanotaura, kuronga kugona kwavo - zvinowanzoita zvakanaka kupfuura zvirongwa zvinoona kugadzira zvinhu nenzira yekutengeserana. Maitiro ekutengeserana anochengetedza nguva yekutaurirana asi anorasikirwa nemabhenefiti anowedzera ekubatana kwenguva refu kwevatengesi.

Mibvunzo Inowanzo bvunzwa NezveHumanoid Robot PCB

Chii chinoita kuti maPCB erobhoti anotaridzika semunhu aome kugadzira?

MaPCB eHumanoid anosanganisa kurongedza kwakasimba, maactuator akawanda akapararira, AI compute, simba rebhatiri, sensors dzekunzwisisa, kunzwa simba, miganhu yakasimba yehuremu, uye mafambiro emakanika. Mabhodhi acho anofanira kunge ari madiki, anoshanda zvakanaka pakupisa, asingade kudedera, uye ari nyore kudzokorora nekuti mapuratifomu ehumanoid anochinja nekukurumidza panguva yekugadzira.

Mangani maPCB anowanzo kuve mukati merobhoti rinoonekwa semunhu?

Nhamba yacho inosiyana zvichienderana nekugadzirwa kwayo, asi chinhu chinoonekwa semunhu chinogona kusanganisira bhodhi repakati rekuverenga, mabhodhi ebhatiri nemagetsi, mabhodhi ekutaurirana, mabhodhi ekuona, mabhodhi ekubatanidza torso, uye bhodhi rimwe kana anopfuura pachikamu chejoinhi kana chiuno. Mapuratifomu ane majoinhi anoshandiswa makumi maviri kusvika makumi mana anogona kuva nemasangano akawanda anodzokororwa ejoinhi.

Sei majoini akagoverwa achishandiswa muvanhunoids?

Majoini anotonga akapararira anoderedza kuoma kwewaya, anopfupisa nzira dze sensor ne motor, anovandudza mashandiro e local current-loop, uye anoita kuti majoini ashande zviri nyore kutsiva. Anodawo kutaurirana kwakavimbika, simba rakawanda, nzira dzekupisa dziri mukati me actuator, uye kuyedza kufukidzwa mumabhodhi akawanda anodzokororwa.

Rigid-flex inobatsira rini mumagetsi erobhoti anoonekwa semunhu?

Rigid-flex inobatsira kana mapuranga achifanira kupinda mukati memakumbo, kupfuura nemajoini, kana kutsiva tambo dzaizokotama kakawanda. Inogona kuderedza huwandu hwezvinobatanidza uye kuchengetedza nzvimbo, asi inoda kuronga nekungwarira kukotama-kotama, rutsigiro rwemakanika, kusarudza zvinhu, uye kudzora kugadzirwa kwechinhu kudzivirira kuneta.

Mabhodhi ekuverenga eAI anofanira kugadzirwa sei kumarobhoti anoonekwa sevanhu?

Mabhodhi emakombiyuta eAI anoda ndangariro inokurumidza, nzvimbo dzemakamera, nzvimbo yekuchengetera zvinhu, kudzora simba, nzira dzekupisa, uye nzvimbo yakakwana yekutarisa nekuronga mabasa. Dhizaini yacho inofanira kuenzana nekushanda, kupisa, huremu, uye nguva yekushanda kwebhatiri. Mapuratifomu mazhinji ekutanga anoshandisa mamodule; magadzirirwo emhando yepamusoro anogona kutamira kumabhodhi ekutakura kana ekuverenga.

Ndeapi magadzirirwo esimba akajairika mumarobhoti anoonekwa sevanhu?

Ma "humanoids" anowanzo shandisa bhatiri rine simba guru rinopa simba guru rekushandisa DC rails kuti rikwanise kudhiraivha pamwe chete, kuverengera, masensa, uye kutaurirana. Magadzirirwo acho anofanira kutarisira peak actuator current, regenerative energy, rail sequencing, safety shutdown, uye state monitoring. Simba rakawanda uye kushanda zvakanaka kwakakosha nekuti huwandu hwebhatiri hunokanganisa mashandiro ekufamba.

MaPCB emarobhoti anoonekwa semunhu anoedzwa sei panguva yekuongorora?

Miedzo yemuenzaniso inofanira kusimbisa bhodhi rega rega yoga uye yozoedza cheni yakabatanidzwa: kufamba kwemajoini, mhinduro ye encoder, kunzwa kwe torque, nguva yekutaurirana, kudhonza kwesimba, kukwira kwekupisa, firmware update, uye mhinduro yekukanganisa. Nekuti humanoids inokurumidza kudzoka, zvigadziriso zvebvunzo zvinofanirwa kutsigira kugadziriswa kwakadzokororwa kwete kugadzirwa kwekupedzisira chete.

Chii chinofanira kuiswa mupakeji yekugadzira PCB yemarobhoti anoonekwa semunhu?

Sanganisira mafaira ekugadzira, stack-up, BOM, data rekuisa, madhirowa ekubatanidza, zvirambidzo zvemakanika, zvinodiwa zvekukotama zvakasimba kana zvikashandiswa, maitiro ekuyedza, mirairo yefirmware, pinouts dzekubatanidza, manotsi ethermal interface, uye zvinodiwa zve serialization. Mabhodhi ejoini anodzokororwa anofanirawo kutsanangura variant control kuitira kuti bhodhi rakakodzera ripinde mujoini rega rega.

Tumira mafaira ePCB erobhoti rinoita semunhu kuti rionekwe nejoint-controller uye kuti rionekwe nepower view