Ingxenyekazi{{0}yeziqu eziningi-ze{2}}zenkululeko iyithuluzi lomshini elikwazi ukunyakaza okuyinkimbinkimbi kwendawo. Inani layo eliyinhloko lilele ekulingiseni ukuziphatha okuguquguqukayo ezindaweni zangempela ngokunyakaza-okunezinhlangothi eziningi. Idizayini yesakhiwo yalolu hlobo lwenkundla ihlanganisa ubuchwepheshe bemikhakha eminingi efana nemishini, i-electronics, nokulawula, futhi isetshenziswa kakhulu ekulingiseni emkhathini, ukusebenzisana kwento engekho ngokoqobo, ukukhiqiza ukunemba, neminye imikhakha.
Ngokombono wemishini,{{0}amadigri{1}eningi{2}}enkundla yenkululeko ngokuvamile aqukethe isisekelo, indlela ye-kinematic, isistimu yokushayela, kanye nesiphetho. Isisekelo sinikeza ukusekelwa okuzinzile, kuyilapho indlela ye-kinematic iyingxenye yayo eyinhloko. Izibonelo ezijwayelekile zifaka i-Stewart parallel mechanism kanye ne-Delta parallel mechanism. Iplathifomu ye-Stewart ixhuma izinkundla ezingenhla neziphansi ngama-actuator adonsela amanzi amaningi noma ngaphezulu kagesi, ifinyelela amadigri ayisithupha enkululeko (ukuhumusha ngokuhambisana nezimbazo ezingu-X, Y, kanye no-Z nokuzungezisa ama-ax amathathu). Izinkundla ze-Delta zisebenzisa izakhiwo zokuxhuma ezilula, ezigxile{7}}ekunyakazeni kwe-planar ngesivinini kanye nokuzungeza{8}}okukhawulelwe kwe-engeli. Amajoyinti alezi zindlela adinga{10}}ama-bearings anemba aphezulu noma ama-ball joints ukuze kuncishiswe imithelela yokungqubuzana nokususwa ekunembeni kokunyakaza.
Inkundla inikwa amandla isistimu yokushayela, engafaka amasilinda kagesi, amasilinda amanzi, noma ama-servo motors ahlanganiswe nezikulufu zebhola. Amadrayivu kagesi yiwona ajwayelekile ngenxa yokusabela kwawo okusheshayo nokulawula okuguquguqukayo, kuyilapho amadrayivu angama-hydraulic afanele imithwalo emikhulu. Isistimu yokulawula isebenzisa izinzwa (ezifana nama-encoder nama-gyroscopes) ukuze inikeze{2}}impendulo yesikhathi sangempela kudatha yesimo nesimo, futhi ihlanganisa ama-algorithms (njengokulawula kwe-PID noma ukuphoqelela isinxephezelo sempendulo) ukuze kuqinisekiswe ukunemba nokuzinza kokunyakaza.
Idizayini yesakhiwo yenkundla{{0}yeziqu{1}}eziningi-zenkululeko idinga ibhalansi phakathi komthamo womthwalo, ububanzi bokunyakaza, kanye nokusabela okuguquguqukayo. Isibonelo, izinkundla zokulingisa ze-aerospace kufanele zimelane-nokulayisha amathani amaningi futhi zilingise ukusheshisa okwedlulele, kuyilapho amadivayisi wokuzijabulisa e-VR ebeka kuqala idizayini engasindi kanye nokusabela okusheshayo. Ngokuzayo, ngokuthuthuka kwesayensi yezinto (njengezinhlanganisela ze-carbon fibre) nobuchwepheshe bokulawula,-ama-degree{7}}e{8}}enkululeko amapulatifomu azothuthukela ekunembeni okuphezulu nasekusebenziseni amandla okuphansi, ngokuqhubekayo andise amandla azo okusebenza emikhakheni esafufusa njengokuvuselelwa kwezokwelapha kanye nokugcinwa kwempahla okuhlakaniphile.
