Pulatifoomu ya diguli eziwera-eza-ddembe kye kyuma kya mechatronic ekisobola okutambula kw’ekifo okuzibu. Omuwendo gwayo omukulu guli mu kukoppa enneeyisa ey’amaanyi mu mbeera entuufu okuyita mu ntambula ey’ebipimo ebingi-. Ensengeka y’enzimba y’ekika kino ey’omukutu egatta tekinologiya ow’enjawulo nga makanika, ebyuma, n’okufuga, era ekozesebwa nnyo mu kusiiga eby’omu bwengula, enkolagana y’ebintu ebirabika (virtual reality interaction), okukola ebintu mu ngeri entuufu, n’emirimu emirala.
Okusinziira ku ndowooza y’ebyuma, ekifo eky’eddembe eringi-diguli-eza-kitera okubaamu omusingi, enkola ya kinematic, enkola ya drive, ne end effector. Omusingi guwa obuwagizi obutebenkevu, ate enkola ya kinematic ye kitundu kyayo ekikulu. Ebyokulabirako ebimanyiddwa mulimu enkola ya Stewart parallel mechanism n’enkola ya Delta parallel mechanism. Ekifo kya Stewart kigatta ekifo eky’okungulu n’ekya wansi nga kiyita mu bikozesebwa mukaaga oba okusingawo eby’amazzi oba eby’amasannyalaze ebidda emabega, ne kituuka ku diguli mukaaga ez’eddembe (okuvvuunula okuyita ku bikondo bya X, Y, ne Z n’okuzimbulukuka okwetoloola ekisiki bisatu). Delta platforms zikozesa ensengekera z’okuyunga ezitazitowa, nga essira liteekebwa ku high-speed planar motion ne limited-angle rotation. Ebiyungo by’enkola zino byetaaga bbeeri ezituufu-obutuufu oba ebiyungo by’omupiira okukendeeza ku bikolwa by’okusikagana n’okufuluma ku butuufu bw’entambula.
Platform eno ekozesebwa enkola ya drive system, eyinza okubeeramu ssiringi z’amasannyalaze, ssiringi z’amazzi oba servo motors nga zigatta wamu ne ball screws. Ebivuga eby’amasannyalaze bye bisinga okukozesebwa olw’okuddamu amangu n’okufuga okukyukakyuka, ate ebivuga eby’amazzi bisaanira emigugu eminene. Enkola y’okufuga ekozesa sensa (nga encoders ne gyroscopes) okuwa real-time feedback ku position ne attitude data, era egatta algorithms (nga PID control oba force feedback compensation) okukakasa entambula entuufu n’obutebenkevu.
Ensengeka y’enzimba y’ekifo eky’eddembe eringi-diguli-ez’eddembe lyetaaga enzikiriziganya wakati w’obusobozi bw’omugugu, ebanga ly’entambula, n’okuddamu okw’amaanyi. Okugeza, emikutu gy’okukoppa mu bwengula girina okugumira emigugu gya ttani eziwera-n’okukoppa okwanguyiza okuyitiridde, ate ebyuma ebisanyusa ebya VR bikulembeza dizayini ennyangu n’okuddamu amangu. Mu biseera eby’omu maaso, olw’enkulaakulana mu ssaayansi w’ebintu (nga ebirungo ebikoleddwa mu kaboni fiber) ne tekinologiya w’okufuga, emikutu gy’eddembe egya diguli-diguli- nnyingi zijja kukulaakulana okutuuka ku butuufu obw’amaanyi n’okukozesa amaanyi amatono, okwongera okugaziya obusobozi bwazo obw’okukozesa mu bintu ebigenda okuvaayo ng’okuddaabiriza eby’obujjanjabi n’okutereka ebintu mu ngeri ey’amagezi.
