6.

C cu cu kn
6.1. Tng ng c cu cu vng kn.
Mt c cu vng kn gi l c cu cu tng ng c hnh thnh t c cu vng kn
khng gian. Bc u tin trong vic hnh thnh c cu cu tng ng l a v cc
vector khp n v, Si , Si l trc ca khp quay, khp tr. V cc vector song song v
bng cc vector Si bt u t mt im O, c th hin trong hnh v di y hnh 6.1

Hnh 6. 1 Vector trc ca khp dch chuyn ti im O

V hnh cu n v i qua cc u mt cc vector Si v c tm trng vi im O. Ni cc

im mt ca cc vector Si vi Si+1 ta c cc khu. Gc gia cc cc Si v Sj l ij, gc
ij ny bng vi gc gia Si v Sj c cu khng gian ban u c th hin hnh v
di y hnh 6.2. di ca cc khu ni im mt vector Si hay di gia im 1
v 2 l l12=r. ij trong r l bn knh ca hnh cu n v v c di r=1. Cc c cu
cu khng gian c hnh bi cc khu lin k ( 12, 23), ( 23, 34). Cc khp
c to bi cc cp khu ni tip. V d khu aij v khu ajk ca c cu khng gian ban
u lin kt vi nhau bng khp quay hoc khp tr, tng ng l cc khu ij v jk ca
c cu cu khng gian c thay th bng khp quay. Khi khp gia khu aij v khu ajk
ca c cu khng gian ban u khp tnh tin th c thay th bng khp ni cng. Hnh
6.3 di y th hin c cu khng gian vng kn lin kt nm khu v c cu cu tng
ng.

Hnh 6. 2. Khu cu

12

t gia S1 v S2.

Hnh 6. 3 C cu khng gian vng kn v c cu cu tng ng

6.2 Bc t do
6.2.1 Khng gian thao tc v c cu vng kn
Mt vt trong khng gian 3 chiu c 6 bc t do, 3 bc t do ph thuc vo v tr v 3 bc
t do ph thuc vo nh hng. m t mt vt trong khng gian cn xc inh v tr
v hng ca n. Ta c n khu cha lin kt vi nhau th c s bc t do l:
M=6n.

(6.1)

Ni chung, mt khp i ni gia 2 khp hi v ik s gim tnh linh ng tng cng l (6-fi ),
trong fi l s bc t do tng i ca khp i, do linh ng ca ca h thng n khu,
v c mt khu ni t l 6(n-1). Hn na khi cc khu ny lin kt vi nhau bi j khp
th linh ng l M
M=6(n-1)-

(6.2)

fi)

Vi c cu khng gian mt chui vng kn, s khu bng s khp th phng trnh (6.2)
c vit l:
M=

( 6.3)

-6

Vi robot chui h, s khp t hn s khu l 1 nn phng trnh (6.2) c vit l:

(6.4)
M=
6.2.2. C cu cu
Mt khu ca c cu cu c 3 bc t do n c th hin trong hnh 6.4 l cc gc
v xc nh v tr v hng trn hnh cu. Tng t nh phng trnh (6.2) ,
c ng ca n khu cu v 1 khu l gi, c j khp c xc nh bng cng thc:
M=3(n-1)-

(6.5)

fi)

Trong : fi l s bc t do ca khp i

Hnh 6. 4 V tr ca mt khu khng gian

6.3. Phn loi c cu khng gian

Trong bng 6.1 lit k cc a gic khng gian hoc chui ng khng gian ng ca cc
khu v cc khp m bc t do M=1, gi s mt khu trong chui c gi c nh. Vi
cc khp quay th k hiu l ch R khp tr th k hiu l ch C, v khp tnh tin k
hiu l ch P. Danh sch ny khng ch nh th t cc khp.
Bng 6. 1 Phn loi chui ng khng gian

Nhm
1

3
4

C cu
R-3C
2R-P-2C
3R-2P-C
4R-3P
3R-2C
4R-P-C
5R-2C
5R-C
6R-P
7R

S khu
4
5
6
7
5
6
7
6
7
7

Cc chui ng trong bng 6.1 khi chuyn sang c cu cu khng gian th tng ng vi
tng nhm ta c bc t do ca nhm 1 l 1, bc t do ca nhm 2 l 2, bc t do ca
nhm 3 l 3, v bc t do ca nhm 3 l 3.
6.4. Xc nh biu thc vector khp.
Ta ca cc vector khp Si ca mi h ta th i l:
i

Si= [ ]

S1= [ ]

(6.6)

nn S1 s bng:

Ta c ta ca vector 1S2 =

(6.7)

.2S2

(6.8)

Suy ra:
1

]. [ ]

S2=[

(6.9)

Xc inh 1S3 =?
1

S3 =

S3 =

(6.10)

S3

Tng t nh phng trnh (6.9) th

2

S3 = [

(6.11)

V vy:
1

].[

S3 =[

(6.12)

(6.13)

T phng trnh 6.13 ta rt ra:

(6.14)

t:
(6.15)

Xj =
Yj =
Zj =

V 1S3 l vector n v nn
2 + 2 + 2 = 1
V

Xj2 + Yj2 + Zj2 = 1

Tip theo ta s xc nh 1S4, 1S5, 1S6, 1S7

1

S4 =

(6.16)

S4

] [ ]=[

S4 = [

Trong :

t X32 =
Y32 =

.
(6.18)

Z32 =

, =

(6.17)

(6.19)

(6.20)

T phng trnh 6.18 ti 6.20 v nh ngha X*kj

Xkj =

(6.21)

X*kj = sj + .cj
Ykj =
Zkj =

(6.22)
)
)

(6.23)

(6.24)

V
Xij =

(6.25)

X*ij = sj + .cj

(6.26)

Yij =

Zij =

(6.27)

(6.28)

Vi j=i+1 v k=j+1
Ta c: Xkj2 +Ykj2 + Zkj2 =1

(6.29)

Xij2 + Yij2 + Zij2 =1

(6.30)

Zij =Zji

(6.31)

Tnh tip 1S5:

1

S5 =

S5

(6.32)

][ ] = [

S5 =[

(6.33)

Ta li t:
X432 =

(6.34)

Y432 =

(6.35)

Z432 =

(6.36)

T 3 phng trnh trn ta li vit c cc phng trnh vi ch s tng

Xijk =

(6.37)

X* ijk =

(6.38)

Yijk =

(6.39)

Zijk =

(6.40)

V cc phng trnh vi ch s gim.

Xkji =

(6.41)

X* kji =
Ykji =

(6.42)

Zkji =

(6.43)

Trong : i=h+1, j=i+1, k=j+1, l=k+1

Tng t vy th ta c:
1

S6 =[

(6.44)

V
1

S7 = [

(6.44)

= X543c2 Y543s2

(6.45)

Y5432 = c12(X543s2 + Y543c2) s12Z543

(6.46)

Z5432 = s12(X543s2 + Y543c2) + c12Z543

(6.47)

V
= X6543c2 Y6543s2

(6.45)

Y65432 = c12(X6543s2 + Y6543c2) s12Z6543

(6.46)

Z65432 = s12(X6543s2 + Y6543c2) + c12Z6543

(6.47)

Ta cng vit cc phng trnh theo ch s tng c suy ra t cc phng trnh trn.
= Xhijck Yhijsk

(6.48)

X*hijk =Xhijsk Yhijck

(6.49)

Yhijk = ckl(Xhijsk + Yhijck) sklZhij

(6.50)

Zhijk = skl(Xhijsk + Yhijck) + cklZhij

(6.51)

Cc phng trnh theo ch s gim

= Xkjich Ykjish

(6.48)

X*kjih =Xkjish Ykjich

(6.49)

Ykjih = cgh(Xkjish + Ykjich) sghZkji

(6.50)

Zkjih = sgh(Xkjisk + Ykjich) + cghZkji

(6.51)

T ta xc nh c cc vector khp
1

S1 = [ ], 1S2 = [

] , 1S3 = [ ], . 1Sn = [

(6.52)

6.5. Xc nh biu thc vector khu.

Xc nh cc cosin ch phng ca cc vector khu trong h ta th nht th cng
ging nh vic xc nh cosin ch phng phn trn. Cc thnh phn ca vector a12
trong h ta th nht l:
1

a12 = [ ]

(6.53)

Cc thnh phn ca vector a23 trong h ta th hai l:

2

a23 = [ ]

(6.54)

Biu th vector a23 trong h ta th nht ta c:

1

a23 =

a23 = [

] [ ]= [

(6.55)

Tip n l biu th vector a34 trong h ta th nht:

1

a34 =

a34 =

a34

(6.56)

Tng t nh 1a23 th ta c th vit c vi 2a34 nn phng trnh 6.56 c vit:

1

a34=[

][

]=[

](6.57)

t cc biu thc sau:

U32 =

(6.57)

V32 = -

(6.58)

W32 =

(6.59)

T phng trnh 6.57 ti phng trnh 6.59 ta vit biu thc tng qut:
Uji =

(6.60)

Vji = -

(6.61)

Wji =

(6.62)

Trong : j= i+1
Tng t ta c:
Uij =

(6.63)

Vij = -

(6.64)

Wjj =

(6.65)

t tip:
U321 = U32c12 V32s12

(6.66)

U*321 = U32 s12 + V32c12

(6.67)

Ta vit li biu thc: 1a43 = [

(6.68)

Trc khi tin hnh xc nh cc cosin ch phng ca vector a45 ta nh ngha cc cc

thut ng U, U*, V, v W, vi cc ch s. T phng trnh (6.60) ti phng trnh (6.65)
xc nh c cc biu thc cho U, V, v W vi hai ch s tng v gim. T 2 phng
trnh (6.66) v (6.67) ta vit cc phng trnh:
Uijk = Uijcjk - Vijsjk

(6.69)

U* ijk = Uijsjk - Vijcjk

(6.70)

Vijk = ck(Uijsjk + Vijcjk) skWij

(6.71)

Wijk = sk(Uijsjk + Vijcjk) +ckWij

(6.72)

10

Cc biu thc vi 4 ch s ca U, U*, V, v W

Uhijk = Uhijcjk - Vhijsjk

(6.73)

U* hijk = Uhijsjk - Vhijcjk

(6.74)

Vhijk =ck(Uhijsjk + Vhijcjk) skWhij

(6.75)

Whijk = sk(Uhijsjk + Vhijcjk) +ckWhij

(6.76)

Cc biu thc vi 5 ch s ca U, U*, V, v W

Ughijk = Ughijcjk - Vghijsjk

(6.77)

U* ghijk = Ughijsjk - Vghijcjk

(6.78)

Vghijk =ck(Ughijsjk + Vghijcjk) skWghij

(6.79)

Wghijk = sk(Ughijsjk + Vghijcjk) +ckWghij

(6.80)

V cc biu thc vi 5 ch s ca U, U*, V, v W

Ufghijk = Ufghijcjk - Vfghijsjk

(6.81)

U* fghijk = Ufghijsjk - Vfghijcjk

(6.82)

Vfghijk =ck(Ufghijsjk + Vfghijcjk) skWfghij

(6.83)

Wfghijk = sk(Ufghijsjk + Vfghijcjk) +ckWfghij

(6.84)

V ta c th nhn thy t cc phng trnh trn l:

Wijmn = Wnmji

(6.85)

(6.86)

Xc nh vector a45:
1

a45 =

a45 = [

a45

(6.87)
][

]=[

11

(6.88)

Hoc 1a45=[

(6.89)

Tng t ta c th vit:
1

a56 =

a56 = [

a56

(6.90)
][

]=[

(6.91)
Hoc 1a56 =[

(6.92)

Cui cng l xc nh vector 1a67

1

a67 =

a67 = [

a67

(6.93)
][

=[

Hoc 1a67 =[

(6.94)

(6.95)

Cc cosin ch phng ca cc vector khp v cc vector ch phng ca vector khu

c trnh by bng di y bng 6.2.

12

Bng 6. 2 Biu thc cosin ch phng trong h ta th nht

6.6 Tam gic cu

6.6.1 Ngun gc c bn ca sine, sine-cosine, v lut cosine
Tam gic cu trong hnh 6.5 di y c linh ng M=0. Mc ch y l to ra
hng lot cc biu thc lin quan ti gc xon
, v gc ca khp .
Ta c cosin ch phng ca vector S3 trong phn trn:

S3 = [ ]

(6.96)

Hnh 6. 5 Tam gic cu

Bi v tam gic cu c cu trc khu ng, nn vector S3 c th biu din trc tip trong
h ta th nht, bng vic quay h ta th 3 vector a31 mt gc
ta c trc Z
ca h ta th nht v th ba trng nhau, tip theo l quay h ta th 3 quanh trc
Z mt gc . Ta c c ma trn chuyn v t h ta th ba sang h ta th nht.

13

=[

V vy

][

S3 =

S3 = [

] [ ]=[

(6.97)

(6.98)

T phng trnh (6.96) v phng trnh (6.98) ta c:

(6.99)

(6.100)

(6.101)

Cc phng trnh (6.99) ti phng trnh (6.101) tng ng l sine, sine-cosine, v lut
cosine cho tam gic cu.
Bng vic quay vector 2S2 sang h ta th ba, c hai cch th hin l quay trc tip
t hai sang ba, v quay hai sang mt tip l sang ba. Kt qu ca hai php bin i
trn l nh nhau, v t ta c th xy dng c sine, sine- cosin, v lut cosin v c
th hin trong bng 6.3. Kt qu ca bng ny c t t c bng cch thay i cc
ch s ca cc phng trnh t (6.99) (6.101) nh sau:
(6.102)
Theo cch chuyn i i ny th c thay th bng
c thay th bng
,
c thay th bng
,
c thay th bng
.
Bng 6. 3 Sine, sine-cosine v lut cosine c bn trong tam gic cu

14

c thay th bng ,
c thay th bng
, v

6.6.2 Bi ton mu.

Gi s ta c ba khu cu. Ta phi o gc xon
6.6), chng ta phi xc nh cc gc ca khp

=1200,
, , v

=800,
.

=1350 xem (hnh

Hnh 6. 6 Ba khu cu

Da vo cc phng trnh trnh by trong (bng 6.3) kt hp vi cc phng trnh xc

nh cosin ch phng ca cc vector khu. Ta c Z1= c23
c12c31 s12s31c1 = c23

(6.103)

Suy ra: c1=

(6.104)

Ta tnh c c1 =0.2938, v suy ra

=72.920,

Tip tc l: X1 = s23s2

= 287.080.
(6.105)

Y1 =s23c2

(6.106)

Khai trin X1 v Y1:

s31s1 = s23s2

(6.107)

-(s12c31 + c12s31c1) = s23c2

(6.108)

Tng ng

=72.920, ta xc nh c:

s2A= - 0.6864

(6.109)

15

c2A= 0.7273
Suy ra

(6.110)

= 43.340. Cho trng hp B,

= 287.080

Ta xc nh c
= s23s3

(6.111)

= s23s3

(6.112)

Khai trin biu thc v tri ca 2 phng trnh trn ta c:

s12s1 = s23s3

(6.123)

-(s31c12 + c31s12c1) = s23c3

(6.124)

Suy ra:
s3A = 0.8406

(6.125)

c3A = 0.516

(6.126)
=57.20, trong trng hp B

Tnh c

= 287.080 th gi tr s3, v c3 l

s3B = -0.8406

(6.127)

c3B = 0.516

(6.128)

Suy ra

=302.790.

Vi kt qu va tnh c ta co hnh v m phng kt qu nh sau:

16

Hnh 6. 7

6.6.3 Cosin ch phng ca cc vetor khp v cc vetor khu trong mt c cu cu tam

gic.
Cosine ch phng ca cc vector S1, S2, S3, a12, a23 trong h ta th nht c
trnh by trong phn 6.4 v 6.5 ca chng ny. Cn vector a31 cha c xc nh. Ta
] . Th hin vector ny qua h ta th hai v th nht.
c 3a31 =[
1

a31 = [

][

] [ ] =[

(6.129)

Vector 3a31 c th c quay trc tip ti h ta th nht v ta c biu thc chuyn i

nh sau:
1

a31 =

a31= [

] [ ] =[

(6.130)

By gi th cosine ch phng ca cc vector khp v khu trong h ta th nht

c tnh xong. xc nh cc cosine ch phng ca cc vector ny trong cc h ta
khc th ta c th thay i cc ch s.
6.6.4
Trong hnh 6.8, cc vector khu a12, a23, v a31 giao vi hnh cu ti ba im, ba im ny
to thnh mt tam gic th hai, gi l tam gic cc.

Hnh 6. 8 Vector khu giao vi hnh cu n v

17