Ii-micro servo ezineegiye zeplastiki (ingakumbi le iluhlaza ixhaphakileyo ye-9g SG90) zitsheva amazinyo ngenxa yesinye sezizathu ezithathu: amandla okuxhasa amatshini (mechanical leverage) adlula amandla okucheba (shear strength) kwamazinyo egiya, ukunyanzeliswa ngesiquphe ukuba ijikeleze ngomva (back-driving) xa ingalo ishenxiswa ngesandla okanye iwisiwe, okanye ukuxinga ixesha elide ngokuchasene nomda wematshini ongenakushenxiswa. Isisombululo asisoloko sikukuthenga iimoto ezinkulu—kukuba uqonde izibalo zetork (torque arithmetic) uze wazi ngokuchanekileyo ukuba ngawaphi amalungu afuna iigiye zentsimbi.

Izibalo Zegiye Etshefileyo

Uninzi lwabaqalayo lucinga ukuba ukuba i-SG90 inikezelwe u-1.5 kg·cm wetork, ingaphakamisa igripper ye-100 yeegrem. Loo ngcinga iyayihoxisa ingalo ye-lever. Itork ilingana namandla (force) ephindaphindwe ngomgama ukusuka kwindawo ejikelezayo (pivot point):

• Umthwalo we-100 g ekupheleni kwengalo engaphambili eyi-5 cm ufuna i-0.1 kg × 5 cm = 0.5 kg·cm yetork engashukumiyo (static torque).
• Fakela ubunzima besakhiwo se-acrylic okanye unxibelelwano oluprintwe nge-3D (malunga ne-40 g kunye nombindi wobunzima bayo ku-2.5 cm): oko kongeza enye i-0.1 kg·cm.
• Yolula loo ngalo inye ngokuthe tye ukuya kwi-15 cm ngethambo legxalaba, kwaye kwaloo mthwalo we-100 g ngoku ufuna i-0.1 kg × 15 cm = 1.5 kg·cm phambi kokuba kubalwe ubunzima beservo yengqiniba, ingalo yangaphambili, okanye ibrakethi.

Kwi-15 cm, ilungu legxalaba lisebenza nge-100% yomda opheleleyo wokuxinga wemoto ngokumane ibambe ingalo ithe tye nje kuphela. Ngomzuzu apho isoftware iyala ukuba kunyuswe ingalo, ukunyuka ngamandla kokukhawulezisa (acceleration spike) kudlula amandla emvelo okucheba kwamazinyo eplastiki. Ispline sokuphuma siyatshelelisa, amazinyo amancinci eplastiki akwigiyo ephakathi ayachebeka, kwaye iservo iqala ukuntshonshoza ngokungenakuzinceda ngaphandle kokujikeleza.

Ingxaki Yomthwalo Wothuso (Ukuqhuba Ngasemva)

Iigiye zeplastiki azifane zitsheve xa zihamba kancinci emoyeni ovulekileyo. Zitsheva xa kukho into ezimisa ngesiquphe. Kumagumbi okufundela ezikolweni nakwiilebhu zabenzi, oyena mbulali uphambili wee-servo ze-9g kukusetyenziswa ngesandla. Xa umfundi etyhala ingalo yerobhothi ngesandla ukuba iye kwindawo ethile ngelixa iservo icinyiwe (okanye okubi kakhulu, ivuliwe), uthotho lweegiye lusebenza njengomphindaphindi wokukhawulezisa ngokubuyela umva. Uphondo olukhulu lokuphuma lunyanzela ipiniyon encinci eqhubayo ukuba ijikeleze ngesantya esiphezulu kakhulu. Ukuxhathisa ekuchebeni kwenayiloni eyenziwe nge-injection moulding kuphantsi; ukutyhala okukhawulezileyo ngesandla kwenza itork yothuso eyaneleyo ukutsheva igiye yokuqala yokunciphisa kwangoko.

Lixesha Liphi Lokusebenzisa i-SG90 xa ithelekiswa ne-MG90S kunye ne-MG996R

Akufuneki wakhe irobhothi yakho iphela usebenzisa ii-servo eziqhelekileyo ezinzima nezibizayo. Indlela efanelekileyo kukukhetha ilungu ngalinye ngokusekelwe kubude bengalo yomzuzu (moment arm) kunye nomngcipheko wokungqubana.

Igripper: Hlala Ngeplastiki (Ngokuqhelekileyo)

I-SG90 yanele ngokugqibeleleyo ukuvula nokuvala uzipho olulula. Ingalo yomzuzu imfutshane (ngaphantsi kwe-4 cm), ngoko iimfuno zetork zincinci kakhulu. Enyanisweni, iigiye zeplastiki apha zisebenza njengefyuzi yoomatshini engabiziyo: ukuba umfundi uyala ukuba uzipho luvaleke ngokuqinileyo kwibhloko yomthi engenakushukunyiswa, imoto iyaxinga. Nangona ukuxinga ixesha elide kuya kuyitshisa ikhoyili yemoto, kukunika ikhusi phambi kokuba kukhutshwe amandla ombane ayingozi.

Ingqiniba: Ukuphuculela Ngqo kwi-MG90S

Ukuba uyilo lwakho lusebenzisa iibrakethi zee-micro servo ze-9g, i-MG90S yindawo echanekileyo yokutshintsha ngqo. Yabelana ngobukhulu obufanayo beendawo zokubeka kunye nemingxuma ye-SG90, kodwa ithatha indawo yeqela leegiye zeplastiki ngobhedu kunye ne-aluminiyam. Inikezela malunga ne-1.8 ukuya kwi-2.2 kg·cm yetork kwaye inokumelana nokungqubana okuqhelekileyo, ukungcangcazela kokulinganisela, kunye neemeko ezincinci zokuxinga eziyidiliza kwangoko i-SG90. Ukuba u-odola iindawo zokutshintsha zeekhithi zeengalo zaseklasini, ukugcina iiyunithi ze-MG90S ezisuka kwi-Sheen Store yeyona ndlela eyonga imali yokumisa iingxaki zolungiso eziqhubekayo.

Igxalaba kunye Nesiqe: Nyukela Kubukhulu Okuqhelekileyo

Kuyo nayiphi na ingalo ene-axis ezi-4 okanye ezi-6 enokufikelela ngaphaya kwe-12 cm, ii-micro servo (nokuba zezo zineegiye zentsimbi) ziyasilela ngokwamatshini kwinqanaba leebheringi. Ishefte encinci ephumayo ye-4.8 mm ayikwazi ukuxhasa umzuzu wokugoba (umthwalo weradiya) wengalo enzima. Apha, kufuneka unyukele kwii-servo zentsimbi ezinobukhulu obuqhelekileyo njenge-MG996R (elinganiselwe ku-~9–11 kg·cm) okanye ii-digital coreless servo. Ezi zineebheringi zebhola ezimbini ezahlula amandla okugoba kwirediyasi kuthotho lweegiye zangaphakathi.

Imithetho Emithathu Efanelekileyo Yokukhusela Nayiphi na I-Servo

• Fakela iziqalo ezithambileyo zesoftware: Ungaze uyalele iservo ukuba itshize ngesiquphe ukusuka ku-0° ukuya ku-180°. Nyusa indawo ekujoliswe kuyo kancinci kancinci kwiluphu (umz., 1° rhoqo ngeemilliseconds ezi-15). Ukukhawulezisa i-engile ngesiquphe yinto echeba amazinyo egiya.
• Lungelelanisa izithinteli zomatshini zokuphela: Ukuba ifreyimu yakho ye-acrylic ima ngqo ku-160°, kodwa ikhowudi yakho iyala i-180°, iservo iya kutsala amandla ayo aphezulu okuxinga ngokuqhubekayo de iigiye zeplastiki zitsheve okanye idrayiva yemoto icime. Lungelelanisa ii-engile ezincinci/ezinkulu kwisoftware phambi kokuba ubophelele iimpondo.
• Nika amandla ii-servo ngokuzimeleyo: Iservo exingileyo itsala phakathi kwe-500 mA (SG90) kunye ne-2.5 A (MG996R). Ukuzinika amandla ngqo kwiphini ye-5V ye-micro:bit okanye ye-Arduino kubangela ukuhla kwamandla ombane (brownouts), kusetha kwakhona i-microcontroller kwaye kubangele ukungcangcazela okungaqhelekanga okubetha amazinyo egiya. Soloko usebenzisa unikezelo lombane oluzinikeleyo lwe-5V/6V olunomhlaba (ground) owabelwana ngawo.