Tng quan v robot song song

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Tng quan v Robot song song

1. Gii thiu Ngy nay, cc k thut robot vi s h tr ca my tnh p ng c chnh xc cao, thi gian thu nhn v x l cc tn hiu nhanh chng, tin cy, lm tng nng sut lao ng, hn ch cc tai nn v c hi cho con ngi Tuy nhin, loi robot ni tip hin ang c s dng trong nhiu lnh vc bc l nhiu nhc im nh tnh linh hot thp, tc x l v kh nng p ng khng cao, cng vng cng nh chnh xc cha m bo. khc phc phn no cc nhc im trn, mt loi robot mi ra i, l robot (hay cn gi l tay my) song song. Khc hn vi robot ni tip l loi robot lin tip c kt cu h c lin kt vi cc khu ng hc v c iu khin tun t hoc song song th robot song song l c cu vng kn trong khu tc ng cui c lin kt vi nn bi t nht l hai chui ng hc c lp [4]. Robot song song c c nhng u im sau: cng vng c kh cao, kh nng chu ti cao, gia tc ln, khi lng ng thp v kt cu n gin. Vi nhng u im trn, robot song song c ng dng trong rt nhiu lnh vc nh y hc, thin vn hc, trc a, my m phng, cc my cng c Trong hot ng sn xut, nhng robot cng nghip thng c hnh dng ca cnh tay c kh, m phng theo nhng c im cu to c bn ca cnh tay ngi. V tinh thn pht trin cc h thng c kh l thc hin cc thao tc ging con ngi nn n khng t nhin, g p nhm s dng cc chui ng hc ni tip vng h, cu trc ny c gi l tay my ni tip. Cu trc ny c u im l vng lm vic tri rng, c tnh linh hot, kho lo nh tay ngi nhng kh nng nng ti ca n thp, bn thp v chnh xc cha cao do cc khp ni trn tay my cng knh, khi lng ln, khi chuyn ng vi tc cao th n b rung v lc. V th, i vi cc ng dng m mc tiu quan trng nht l kh nng nng ti ln, thc hin ng lc hc tt v nh v chnh xc th rt cn mt s
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thay th tay my ni tip truyn thng. tm ra cc gii php kh thi, cc nh khoa hc quan st th gii sinh vt v nhn thy rng (1) thn hnh ca cc loi th c kh nng nng ch vt nng c c n nh, vng chc hn trn nhiu chn song song vi nhau so vi loi ngi ng trn hai chn, (2) loi ngi cng s dng cc cnh tay, ngn tay kt hp vi nhau nng vt nng v thc hin cc cng vic i hi chnh xc nh khi vit, loi ngi dng ba ngn tay tc ng song song cng mt lc. Tm li, chng ta c th a ra kt lun rng cc tay my c khu tc ng cui c gn vi t bng nhiu chui ng hc c cc b tc ng c gn song song vi nhau s c c cng vng ln hn v kh nng nh v tt hn. V da vo nhn xt trn, cc nh khoa hc tin hnh nghin cu mt loi cu trc c kh mi, l c cu song song. C cu song song l c cu gm c b c nh v tm dch chuyn c gn kt vi b c nh thng qua cc chui truyn ng ni tip [4]. 2. Tng quan v robot 2.1. S lc qu trnh pht trin Thut ng robot c sinh ra t trn sn khu, khng phi trong phn xng sn xut. Nhng robot xut hin ln u tin trn trn NewYork vo ngy 09/10/1922 trong v Rossums Universal Robot ca nh son kch ngi Tip Karen Kapek vit nm 1921, cn t robot l cch gi tt ca t robota - theo ting Tip c ngha l cng vic lao dch. Nhng robot thc s c ch c nghin cu a vo nhng ng dng trong cng nghip thc s li l nhng tay my. Vo nm 1948, nh nghin cu Goertz nghin cu ch to loi tay my i iu khin t xa u tin, v cng nm hng General Mills ch to tay my gn tng t s dng c cu tc ng l nhng ng c in kt hp vi cc c hnh trnh. n nm 1954, Goertz tip tc ch to mt dng tay my i s dng ng c servo v c th nhn bit lc tc ng ln khu cui. S dng nhng thnh qu , vo
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nm 1956 hng General Mills cho ra i tay my hot ng trong cng vic kho st y bin. Nm 1968 R.S. Mosher, thuc hng General Electric, ch to mt thit b bit i c bn chn, c chiu di hn 3m, nng 1.400kg, s dng ng c t trong c cng sut gn 100 m lc (hnh 1).

Hnh 1: Robot 4 chn ca hng R.S Mosher v hng General Electric Cng trong lnh vc ny, mt thnh tu khoa hc cng ngh ng k t c vo nm 1970 l xe t hnh thm him b mt ca mt trng Lunokohod 1 c iu khin t tri t (hnh 2).

Hnh 2: Xe t hnh thm him mt trng Lunokohod 1

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Vin nghin cu thuc Trng i hc Stanford vo nm 1969 thit k robot Shakey di ng tinh vi hn thc hin nhng th nghim v iu khin s dng h thng thu nhn hnh nh nhn dng i tng (hnh 3). Robot ny c lp trnh trc nhn dng i tng bng camera, xc nh ng i n i tng v thc hin mt s tc ng trn i tng.

Hnh 3: Robot Shakey-robot u tin nhn dng i tng bng camera Nm 1952 my iu khin chng trnh s u tin ra i ti Hc Vin Cng ngh Massachusetts (Hoa K). Trn c s nm 1954, George Devol thit k robot lp trnh vi iu khin chng trnh s u tin nh mt thit b do ng pht minh c gi l thit b chuyn khp c lp trnh. Joseph Engelberger, ngi m ngy nay thng c gi l cha ca robot cng nghip, thnh lp hng Unimation sau khi mua bn quyn thit b ca Devol v sau pht trin nhng th h robot iu khin theo chng trnh. Nm 1962, robot Unmation u tin c a vo s dng ti hng General Motors; v nm 1976 cnh tay robot u tin trong khng gian c s dng trn tu thm him Viking ca c quan Khng Gian NASA ca Hoa K ly mu t trn sao Ha (hnh 4).

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Hnh 4: Tay robot trn tu thm him Viking 1 Trong hot ng sn xut, a s nhng robot cng nghip c hnh dng ca cnh tay c kh, cng chnh v vy m i khi ta gp thut ng ngi my - tay my trong nhng ti liu tham kho v gio trnh v robot. 2.2. Nhng ng dng in hnh ca robot Robot c ng dng rng ri trong nhiu ngnh cng nghip. Nhng ng dng ban u bao gm gp t vt liu, hn im v phun sn. Mt trong nhng cng vic km nng sut nht ca con ngi l rn kim loi nhit cao. Cc cng vic ny i hi cng nhn di chuyn phi c khi lng ln vi nhit cao khp ni trong xng. Vic tuyn dng cng nhn lm vic trong mi trng nhit cao nh vy l mt vn kh khn i vi ngnh cng nghip ny, v robot ban u c s dng thay th cng nhn lm vic trong iu kin mi trng ngt ngho nh trong l c, xng rn, v xng hn. i vi robot th nhit cao li khng ng s. Trong cc nh my sn xut xe hi th hn im l cng vic s dng robot nhiu nht: khung xe c c nh vo mt xe c iu khin t xa di chuyn khp nh my. Khi xe n trm hn, kp s c nh cc chi tit ng vo v tr cn hn, trong khi robot di chuyn dc theo cc im hn c lp trnh trc (hnh 6).

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Hnh 5: Robot hm im trong nh my sn xut xe hi . Sn l mt cng vic nng nhc v c hi i vi sc kho ca con ngi, nhng li hon ton khng nguy him i vi robot. Ngoi ra, con ngi phi mt hn hai nm nm c k thut v k nng tr thnh mt th sn lnh ngh trong khi robot c th hc c tt c kin thc ch trong vi gi v c kh nng lp li mt cch chnh xc cc ng tc sn phc tp. iu th hin mt bc tin ng k trong vic kt hp gia nng sut v cht lng cng nh ci thin ch lm vic cho con ngi trong mi trng c hi. Tt c robot phun sn u c dy bi mt th sn chuyn nghip gi u phun v dch chuyn n i ng ng; ng i c ghi li; v khi robot thc hin cng vic phun sn th n ch vic i theo ng i c nh sn . Nh th, robot phun sn phi c cc khp sao cho ngi th sn c th d dng dn hng cho chng. ng dng ny a n s pht trin mt loi tay robot dng vi voi c linh hot cao. Robot cn c s dng trong nhiu lnh vc khc na nh phc v cho my cng c, lm khun trong cng nghip nha, gn knh xe hi, gp hng ra khi bng ti v t chng vo cc trm chuyn trung gian. mc
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Tng quan v robot song song

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sau, ba ng dng ca robot trong cng nghip c kho st cc giai on nghin cu khc nhau. Hn ng thng c thc hin bng tay. Tuy nhin nng sut thp do yu cu cht lng b mt mi hng lin quan n cc thao tc ca u m hn vi mi trng khc nghit do khi v nhit pht ra trong qu trnh hn. Khng ging k thut hn im, mi hn c v tr c nh, mi hn trong k thut hn ng nm dc theo mi ghp gia hai tm kim loi. Nhng h thng hn ng thc t (hnh 6) ph thuc vo con ngi trong vic kp cht chnh xc chi tit c hn, v sau robot di chuyn dc theo qu o c lp trnh trc. u im duy nht so vi hn bng tay l cht lng mi hn c n nh. Ngi vn hnh ch cn thc hin mt vic t nht l kp cht cc chi tit. C th thc hin tng nng sut bng cch trang b hn nh v quay nh ngi vn hnh c th kp cht mt chi tit trong khi thc hin vic hn chi tit khc. Tuy nhin, lun c vn kh khn trong vic lp kht chi tit do dung sai trong ch to, chi tit b cong vnh, v cc thit k cn lp ghp theo ng cong khng ng dng. Cc vn lm cho vic kp cht chi tit kh khn, c bit l i vi cc chi tit ln v lp tm kim loi mng. Hn na, ng hn c th khng x l c vi m hn v n b che khut bi chi tit khc. Th hn tay phi x l kh khn nhiu loi mi ni v v tr cc chi tit khc nhau. Gn y cc nghin cu tp trung vo phng php d vt ng hn vi mc ch gim bt yu cu nh v chnh xc, v do gim chi ph hn trong khi cht lng mi hn li tng.

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Hnh 6: H thng robot hn ng ca hng FANUC Cm bin trang b trn cc robot hn ng phi c kh nng xc nh v tr ng ca ng hn. Nh vy, mi hn c t chnh xc, ng yu cu v hnh dng v kch thc th robot phi gi in cc theo hng ng ca ng hn vi khong cch ng t ng hn n u m hn v di chuyn vi tc khng i sao cho lng vt liu chy vo mi ni khng i. Xc nh ng hn cho cc vt th ba chiu th phc tp hn cho cc tm phng vi thng cn phi m hnh ho hnh hc nh ra ng di chuyn ca robot. Hnh 7 trnh by mt robot c trang b cm bin laser d ng i ca u hn. Thng thng o to mt th hn bc cao phi mt nhiu nm, nhng vic a robot vo sn xut nh my to kh nng c th thu nhn cng nhn c tr ln ln tui, c kinh nghim ngh nghip rt khc nhau. Hn ng, mt lnh vc tim nng cho vic ng dng robot, c xp vo lnh vc k thut cao.

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Hnh 7: u hn c trang b cm bin d tm ng i bng laser theo khng gian ba chiu. Mt k thut sn xut c mc tiu lu di l nh my t ng hon ton, mt bn thit k c th hin ti mt trm thit k bng my tnh, khng c s can thip ca con ngi vo qu trnh sn xut. Hy th hnh dung mt mi trng sn xut t ng hon ton; t tng sn phm, gm cc ch tiu k thut cp cao, ngi ta thit k ra sn phm; sau t vt liu, lp ra chng trnh gia cng, lp ra chin lc ng i ca chi tit trong nh my; iu khin cung cp chi tit vo my gia cng, lp rp v kim tra t ng thng qua cc my gia cng CNC v cc robot tnh v robot di ng. Nhng thnh tu ca mt mi trng sn xut nh th v ang c u t nghin cu v pht trin trong nhiu nm qua. Hin nay cc nh my ln hin i u p dng m hnh t ng ho hon ton, c bit l phn thit k cp cao v phn x l chi tit cp thp. Mt trong nhng tr ngi chnh l lin kt cc tng vi nhau. Mt kh khn khc l nhu cu phng php xut ra cc c t th tc t m hnh my tnh ca sn phm. V d, vic lp ra mt cch t ng trnh t lp rp cc chi tit vi nhau trong khu lp rp. Robot c s dng t ng ho qu trnh lp rp trong nhng nh my nh th. Khu ny tp trung nhiu lao ng v kh hn nhiu so vi d

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tnh. V d, cm mt ci m hn tay n gin v tho n ra tng phn. C bao nhiu chi tit? C bao nhiu cch lp rp n? Bn c th lp rp n bng mt tay hay khng? Bn c th nhm mt lp c n hay khng? By gi bn ang gp phi s gii hn ca robot. S pht trin ca cm bin v s ng dng n vo robot l yu t quan trng c bn ng dng robot trong lp rp. Ly v d, u m hn l mt vt th nh, nn lp rp n chng ta cn tp trung mi chi tit li, tm v tr v hng lp rp cho tng chi tit, ly chi tit u tin v t n vo c cu kp cht, ly mt chi tit na theo ng th t v lp vo chi tit u tin. Vic lp rp cn lin quan n nhiu x l khc nhau: a mt chi tit vo mt chi tit kia, t mt chi tit trn mt chi tit khc, sit cht ai c, sit vt, hay phun keo, v.v... Tuy nhin, tu trng hp c th quyt nh c s dng robot trong cng on lp rp hay khng. Trong thc t, khi sn phm c thit k kho lo th ngi cng nhn c th lp rp sn phm trong mt thi gian rt ngn. Trong sn xut ln, nhng robot ny l nhng h thng c t ng ho hon ton: chng o c, ct, khoan cc thit b chnh xc v cn c kh nng hiu chnh cc cng vic ca mnh, hu nh y khng cn s gip ca con ngi tr chng trnh iu khin trong my tnh in t. Ch vi vi ngi gim st cng vic; cc my mc ny c th hot ng sut ngy m; cc robot lm tt c cc cng vic nh vn chuyn sn phm t cng on sn xut ny ti cng on sn xut khc k c vic a v sp xp thnh phm vo kho. Cc nh my ln th thng sn xut mt s mt hng nht nh trn cc dy chuyn hin i. Cc nh my c va v nh, nh nh my sn xut ph tng xe p chng hn, th thng sn xut sn phm a dng vi s lng khng ln. Robot khng phi lc no cng thch hp vi nhng cng vic nh vy, nhng nh my loi ny c th gii quyt vn bng cch tran b nhiu thit b a dng cho tay gp ca robot nhm cho php robot c kh nng
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iu chnh nhanh chng thit b cng ngh p ng linh hot vi nhiu dng cng vic khc nhau. 2.3. Mt s nh ngha v robot Vin Nghin cu robot Hoa K a ra mt nh ngha v robot nh sau: Robot l mt tay my nhiu chc nng, thay i c chng trnh hot ng, c dng di chuyn vt liu, chi tit my, dng c hoc dng cho nhng cng vic c bit thng qua nhng chuyn ng khc nhau c lp trnh nhm mc ch hon thnh nhng nhim v a dng (Schlussel, 1985). nh ngha robot cn c Mikell P.Groover, mt nh nghin cu hng u trong lnh vc robot, m rng hn nh sau: Robot cng nghip l nhng my, thit b tng hp hot ng theo chng trnh c nhng c im nht nh tng t nh con ngi. nh ngha ca M.P.Groover v robot khng dng li tay my m m rng ra cho nhiu i tng khc c nhng c tnh tng t nh con ngi nh l suy ngh, c kh nng a ra quy nh v c th nhn thy hoc cm nhn c c im ca vt hay i tng m n phi thao tc hoc x l. Theo Artobolevski I.I., Vorobiov M.V. v cc nh nghin c u thuc trng phi khi SEV trc y th pht biu rng: Robot cng nghip l nhng my hot ng t ng c iu khin theo chng trnh thc hin vic thay i v tr ca nhng i tng thao tc khc nhau vi mc ch t ng ho cc qu trnh sn xut. S thng nht trong tt c cc nh ngha nu trn c im iu khin theo chng trnh. c im ny ca robot c thc hin nh s ra i ca nhng b vi x l (microprocessors) v cc vi mch tch hp chuyn dng c l chip trong nhng nm 70. Khng lu sau khi xut hin robot c iu khin theo chng trnh, ngi ta thc hin c nhng robot t hnh. Hn na, vi nhng bc
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Tng quan v robot song song

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pht trin nhanh chng ca k thut in t v tin hc, hin nay ngi ta sng to nhiu robot cm xc v c kh nng x l thng tin. Do nh ngha robot cng c nhng thay i b sung. Nht Bn hin nay l nc c s lng robot dng trong sn xut cng nghip nhiu nht th gii, khong hn 70% trong tng s chng 300.000 robot cng nghip trn ton th gii. Ngi Nht c quan nim d di hn v robot: theo h robot l bt c thit b no c th thay th cho lao ng ca con ngi. Trong cng nghip Nht Bn, nhng robot hay tay my c iu khin bng cam cng c lit vo hng ng robot. Theo , Hip Hi robot Cng nghip Nht Bn (JIRA - Japan Industrial Robot Association) phn loi robot thnh su hng, t nhng tay my do con ngi trc tip iu khin tng ng tc n nhng robot thng minh c trang b tr tu nhn to (theo Schlussel, 1985). Nhng robot hay tay my dng cc c cu cam trong h thng iu khin c c tha nhn hay khng l khng quan trng ; iu quan trng l chng ng vai tr ng k trong vic t ng ho sn xut cc nh my. Nhng robot, tay my ni trn cn c gi mt cch hnh tng l t ng ho cng, ngc li vi t ng ho linh hot, m i din ca chng l nhng robot cng nghip c iu khin bng chng trnh, thay i c nhim v thao tc t ra mt cch nhanh chng. Mt s nh khoa hc hng u trong lnh vc robot ca Nht Bn a ra nhng nh ngha v robot di dng nhng yu cu nh sau: Theo Gio s Sitegu Watanabe (i hc Tng hp Tokyo) th mt robot

cng nghip phi tha mn yu t sau: . . . . C kh nng thay i chuyn ng; C kh nng cm nhn c i tng thao tc; C s bc chuyn ng (bc t do) cao; C kh nng thch nghi vi mi trng hot ng;
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C kh nng hot ng tng h vi i tng bn ngoi. Theo Gio s Masahiro Mori (Vin cng ngh Tokyo) th robot cng

nghip phi c cc c im sau: . . . . C kh nng thay i chuyn ng; C kh nng x l thng tin (bit suy ngh); C tnh vn nng; C nhng c im ca ngi v my. T nhng khc bit trong nh ngha v robot, cn c vo tnh linh hot ca nhng h thng sn xut c p dng robot P.J.McKerrow, mt nh nghin cu v robot ca c a ra mt nh ngha mt gc khc. Theo ng, robot l mt loi my c th lp trnh thc hin nhng cng vic a dng tng t nh mt my tnh, l mt mch in t c th lp trnh thc hin nhng cng vic a dng. Cc robot ng gp vo s pht trin cng nghip di nhiu dng khc nhau; tit kim sc ngi, tng nng sut lao ng, nng cao cht lng sn phm v an ton lao ng v gii phng con ngi khi nhng cng vic cc nhc v t nht. Tt nhin, trong tng lai cn nhiu vn ny sinh khi robot ngy cng thay th cc hot ng ca con ngi, nhng trong vic em li li ch cho con ngi, khm ph v tr, v khai thc cc ngun li i dng, robot thc s lm cho cuc sng ca chng ta tt p hn. Trc khi i vo phn tch nhng ni dung tip theo, bn c c s nhn dng mt cch thng nht trong qu trnh kho st, di y s trnh by mt s phng php phn loi robot s dng trong cng nghip. 2.4. Phn loi chung v robot Robot c th phn loi theo nhiu tiu chun, s bc t do ng hc, h thng truyn ng, dng hnh hc ca chi tit gia cng, cc t tinh chuyn ng.

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Phn loi theo s bc t do: Mt cch l tng c cu chp hnh phi c 6

bc t do s l i tng mt cch t do trong khng gian 3 chiu. Theo quan im ny, robot a nng c 6 bc t do v robot thiu c nht t hn 6 bc t do, robot d c thm mt bc t do d di chuyn qua cc hng chng ngi vt hoc trong khng gian hp. Mt khc, i vi mt s ng dng t bit, chng hn lp rp cc chi tit trn mt phng ch c robot 4 bc t do l . Phn loi theo cu trc ng hc: Robot c gi l robot ni tip nu cu

trc ng hc c dng chui vng h, robot song song nu c chui vng kn, v robot lai nu c vng kn v vng h. Phn loi theo h thng truyn ng: C 3 h thng truyn ng ph bin

l in, thu lc v kh nn c dng cho robot. Hu ht cc c cu chp hnh u s dng ng c bc hoc ng c tr ng DC, do chng tng i d iu khin. Tuy nhin khi cn tc cao v kh nng mang ti cao, thng dng chuyn ng thy lc hoc kh nn c tnh linh hot kh cao. Mc d truyn ng kh nn sch v nhanh nhng kh iu khin do khng kh l cht kh nn c. Trong c cu ni tip, ni chung mt b tc ng c dng iu khin chuyn ng ca tng khp. Nu tng khu chuyn ng c truyn ng bng mt b tc ng lp trn khu trc thng qua hp gim tc, s dch chuyn ca khu ny v mt ng hc l c lp vi khu khc, y l c cu chp hnh ni tip quy c. Mt khc, nu mi khp c truyn ng trc tip bng b tc ng khng c hp gim tc, c cu c gi l c cu chp hnh truyn ng trc tip. Vic dng hp gim tc cho php s dng ng c nh hn, do lm gim qun tnh ca c cu chp hnh. Tuy nhin, lch khp ca ca cc bnh rng trong hp gim tc c th gy ra sai s v tr b phn tc ng. K thut truyn ng trc tip khc phc c vn bnh rng v c th tng tc cho c cu chp hnh. Tuy nhin, cc ng c truyn ng trc tip
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tng i ln v nng. Do chng thng c dng truyn ng khp th nht ca c cu chp hnh, ng c c lp t . Ni chung ng c cng c th c lp t truyn ng khp th hai hoc khp th ba thng qua ai kim loi hoc khu thanh y. Mt s c cu chp hnh s dng b cnh bnh rng, xch v a truyn ng cc khp. Khi s dng h thng truyn ng ny cho c cu chp hnh qua nhiu khp, dch chuyn ca s ph thuc ln nhau. Cc c cu chp hnh kiu gi l vng kn. Phn loi theo hnh dng hnh hc khng gian lm vic: Khng lm vic

ca c cu chp hnh c xc nh l th tch khng gian u tc ng c th vi ti. Ni chung, thng s dng hai nh ngha v khng gian lm vic. Th nht l khng gian c th vi ti, th tch khng gian trong c cu tc ng c th vi ti tng im theo t nht l mt chiu. Th hai l khng gian linh hot, th tch khng gian trong c cu tc ng c th vi ti tng im theo mi chiu c th. Khng l mt phn ca khng gian c th vi ti. Mc d y khng phi iu kin cn, nhng nhiu c cu chp hnh ni tip c thit k vi 3 khu u di hn cc khu cn li, do 3 khu ny c dng ch yu thao tc v tr, cc khu cn li c dng iu khin hng ca u tc dng. V l do 3 khu u c gi l cnh tay, cc khu cn li c gi l c tay. Tr cc c cu chp hnh c bc t do ln hn l 6, cnh tay thng c 3 bc t do, c tay c 1-3 bc t do. Hn na, b c tay thng c thit k vi cc trc khp ct nhau ti mt im chung gi l tm c tay. B cnh tay c th c nhiu kiu cu trc ng hc, to ra cc bin lm vic khc nhau, c gi l vng khng gian lm vic. Khng gian do nh sn xut Robot cung cp thng c xc nh theo khng gian lm vic. Tay my c gi l robot tr nu khp th nht hoc khp th hai ca robot Cartersian (Hnh 8e) c thay th bng khp quay. Tay my c l

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Robot cu nu hai khp u l khp quay khc nhau v khp th 3 l khp lng tr (Hnh 8a). v tr tm c tay ca Robot cu l tp hp cc to cu lin quan vi 3 bin khp ni. Do trong khng gian lm vic ca Robot cu c gii hn theo hai khi cu ng tm. Tay my c gi l Robot quay nu c 3 khp u l khp quay. Khng gian lm vic ca Robot ny rt phc tp thng c tit din hnh xuyn. Nhiu Robot cng nghip l loi Robot quay (Hnh 8c).

Hnh 8: M hnh mt s tay my thng dng

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3. Robot song song 3.1. Mt s u, nhc im ca robot song song Nhn chung, tt c cc lai Robot c cu trc song song u c nhiu u im v c th c ng dng trong nhiu lnh vc, cc b m hnh my bay, cc khung kin trc c khp ni iu chnh, cc my khai thc m ... 3.1.1. u im Kh nng chu ti cao: cc thnh phn cu to nh hn nn khi lng ca

cc thnh phn cng nh hn. . . cng vng cao do kt cu hnh hc ca chng: Tt c cc lc tc ng ng thi c chia s cho tt c cc chn. Cu trc ng hc mt cch c bit ca cc khp lin kt cho php

chuyn tt c cc lc tc dng thnh cc lc ko/nn ca cc chn. C th thc hin c cc thao tc phc tp v hat ng vi chnh xc

cao: vi cu trc song song, sai s ch ph thuc vo sai s dc trc ca cc cm c cu chn ring l v cc sai s khng b tch ly. C th thit k cc kch thc khc nhau. n gin ha cc c cu my v gim s lng phn t do cc chn v

khp ni c thit k sn thnh cc cm chi tit tiu chun. Cung cp kh nng di ng cao trong qu trnh lm vic do c khi lng

v kch thc nh gn. Cc c cu chp hnh u c th nh v trn tm nn. Tm hot ng ca Robot c cu song song rt rng t vic lp rp cc

chi tit cc nh ti cc chuyn ng thc hin cc chc nng phc tp, i hi chnh xc cao nh: phay, khoan, tin, hn, lp rp...

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Cc Robot c cu song song lm vic khng cn b v c th di

chuyn ti mi ni trong mi trng sn xut. Chng c th lm vic ngay c khi trn thuyn v treo trn trn, tng ... Gi thnh ca cc Robot song song ng dng trong gia cng c kh t hn

so vi my CNC c tnh nng tng ng. 3.1.2. Nhc im Tuy nhin cc Robot song song cng c nhng nhc im nht nh khi so snh vi cc Robot chui nh: Khong khng gian lm vic nh v kh thit k. Vic gii cc bi ton ng hc, ng lc hc phc tp... C nhiu im suy bin (k d) trong khng gian lm vic.

3.2. Cu trc robot song song 3.2.1. Cu trc c cu Cng nh cc robot thng thng, robot song song l loi robot c cu trc vng kn trong cc khu (dng thanh) c ni vi nhau bng cc khp ng. S ng c cu tay my thng thng l chui ni tip cc khu ng, t khu cui (l khu trc tip thc hin thao tc cng ngh) n gi c nh. Cn trong Robot song song, khu cui c ni vi gi c nh bi mt s mch ng hc, tc l ni song song vi nhau. S khc nhau v s ng cng to nn nhiu c im khc bit v ng hc v ng lc hc. 3.2.2. Khu, khp, chui ng v c cu chp hnh ca c cu song song Khu: L phn c chuyn ng tng i vi cc phn khc trong c cu.

Chng ta coi cc khu l vt rn, iu lm cho vic nghin cu cc kt cu, robot c d dng hn. Tuy nhin vi cc c cu tc cao hoc mang ti ln th hin tng n hi ca vt liu tr nn quan trng ng k v chng ta phi xt n.
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Khp: L chui ng gia hai khu. Ty theo cu trc, mi khp hn ch

mt s chuyn ng gia hai khu, b mt tip xc ca mi khu ti khp gi l thnh phn khp. Hai thnh phn ca khp to thnh mt khp ng. Khp ng c th phn thnh khp thp v khp cao tuy thuc vo dng tip sc. . . Khp thp: Nu hai thnh phn tip xc l b mt. Khp cao: Nu hai thnh phn tip xc l im hoc ng. C 6 loi khp thp v 2 loi khp cao c bn thng c dng trong cc c cu my v cc robot, l: . Khp quay (Revolute Joint - R): khp li chuyn ng ca khu ny

i vi khu khc quanh mt tr quay. ngha l khp quay hn ch 5 kh nng chuyn ng gia hai thnh phn ca khp v c mt bc t do. . Khp lng tr (Prismatic Joint - P): cho php 2 khu trc trn mt trc.

Do khp lng tr hn ch 5 kh nng chuyn ng tng i gia hai khu v c mt bc t do. Ngi ta cng thng gi khp lng tr l khp tch tin. . Khp tr (Cylindrical joint - C): cho php hai chuyn ng c lp, gm

mt chuuyn ng quay quanh mt trc v mt chuyn ng tch tin theo trc . Do khp tr hn ch 4 kh nng chuyn dng gia hai khu v c hai bc t do. . Khp ren (Helical Joint - H): cho php chuyn ng quay quanh trc ng

thi tch tin theo trc quay. Tuy nhin chuyn ng tch tin ph thuc vo chuyn ng quay bi bc ca ren vt. Do , khp ren hn ch 5 chuyn ng tng i gia hai khu v cn li 1 bc t do. . Khp cu (Spherical Joint - S): cho php chuyn ng quay gia hai thnh

phn khp tm cu theo tt c cc hng, nhng khng c chuyn ng tch tin gia hai thnh phn khp ny. do khp cu hn ch 3 kh nng chuyn ng v c 3 bc t do.

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Khp phng (Plane Joint - E): c hai kh nng chuyn ng tch tin theo

hai trc trong mt tip xc v kh nng quay quanh trc vung gc vi mt tip xc. Do khp phng hn ch 3 kh nng chuyn ng v c 3 bc t do. . Khp bnh rng phng (Gear Pair - G): cho hai bnh rng n khp vi

nhau. Cc mt tip xc y nhau, chng thng trc ln nhau. Do khp bnh rng hn ch 4 kh nng chuyn ng tng i gia hai thnh phn khp v cn li hai bc t do. . Khp cam phng (Cam Pair - Cp): tng t nh khp bnh rng, hai

thnh phn khp lun tip xc vi nhau. Do , khp cam phng c hai bc t do. 3.3. Mt s lnh vc nghin cu . Phn tch cu trc tay my song song: C cu chp hnh song song phng l loi c cu c 3 chui ng hc. S

dng cc khp quay v lng tr theo cp ng hc, ta c 7 cch b tr chui ng hc l RRR, RRP, RPR, PRR, RPP, PRP v PPR.

Hnh 9: Cch b tr cc chui ng hc ca c cu chp hnh song song phng

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Hnh 10: Cu trc chp hnh song song 3PRP . C cu chp hnh song song cu: Cc thng s chuyn ng i vi c

cu ny bng 3. Yu cu lin kt trong c cu ny l ng nht vi c cu chp hnh song song phng. Trong c cu chp hnh lin kt cu, loi khp c php l khp quay, tt c cc trc khp phi giao nhau ti mt im chung, l tm hnh cu, cu trc nhnh duy nht c php l cu trc RRR. Ch rng mt khp cu c th c lp tm ca c cu hnh song song cu. Tuy nhin, khp cu nh th ch c th l khp th ng, v cc b tc ng hin hu khng th truyn ng cho khp . V th, nu dng 1 khp cu, cn c thm 3 chn tc ng song song b chuyn ng.

Hnh 11: Cu trc chp hnh kiu cu 3RRR

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Robot song song khng gian:

Hnh 12: Mt s cu trc chn ca robot song song khng gian Mt trong nhng robot song song khng gian c nhiu nh nghin cu trn th gii quan tm l tm dch chuyn Stewart [3]. y l c cu chp hnh 6-SPS, 6 bc t do. Su nhnh ni b di ng vi c nh bng cc khp cu. Mi nhnh gm phn trn v phn di ni vi nhau bng khp lng tr. Trc vt hoc kch thy lc c dng thay i chiu di khp lng tr v do iu khin v tr b.

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Hnh 13: Tm dch chuyn Stewart Mt robot song song khc l loi robot Delta [1]. y l loi robot 3 bc t do. Cc chui ng hc ca loi robot ny l loi RRPaR vi mt ng c c gn vo khp quay quanh trc w.

Hnh 14: Robot Delta Robot song song 3RPS: Robot song song 3RPS thng c thit k mang phi gia cng v c lp t trn bn g phi ca my phay. Ba chn vi chiu di c th thay i c iu bi cc xi lanh thu lc s dn b ng di ng mang phi chuyn ng theo qu o xc nh trc. Hai u ca cc chn mt u c lin kt vi c nh bng khp bn l v mt u c lin kt vi b di ng bng khp cu. u im ca loi robot ny l khi
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lng nh, cu trc gn nh, cng vng cao, c 3 bc t do v chnh xc cao. Tt c cc thnh phn c kh c la chn v thit k cng nh gn cng tt v khng c khe h theo chiu dc trc ca cc chn, cc chn c iu khin ca robot c dn ng bng cc c cu chp hnh tuyn tnh. Hnh m t s ca robot ny. . Chi tit 1: Bn di ng c 3 bc t do trong khng gian, trong trng hp

c th y l phn mt dng g dng c ct kim loi (u dao phay,) hoc lp g phi (thc chia , kp phi gia cng,) c dng tam gic (thng l tam gic u). Trn bn di ng thng lp cc g kp chi tit hoc lp t ng c-i dao gia cng. Bn c thit k c cc l, cht nh lp g. g c lp cht trn bn di ng bng cc bu lng. . Chi tit 2: L mt xi lanh thu lc mt u ni vi bn c nh bng khp

bn l v mt u cn li c ni vi bn di ng bng khp cu. . . . Chi tit 3: L khp cu. Chi tit 4: L khp bn l. Chi tit 5: c nh.

Hnh 15: Cu trc chp hnh song song 3RPS

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ng hc thun: Bi ton ng hc thun nhm xc nh v tr v gc hng ca khu tc

ng cui t ta ca cc khp tc ng. Bi ton ny rt cn thit cho vn iu khin v dng gii h cc phng trnh ng hc ngc. Khng c phng php gii tng qut ca bi ton ny do c rt nhiu cu trc tay my song song. Nhm tc gi Jean-Charles Faugre, Jean-Pierre Merlet v Fabrice Rouillier dng c s Grbner gii bi ton ng hc thun ca tm dch chuyn Gough. Nhm tc gi gii mt bi ton c th v tm ra c 40 nghim thc. Ngoi ra, nhm tc gi cng kho st thi gian tnh ton ca my tnh p dng gii bi ton trong thi gian thc t [9]. Ghasem Abbasnejad, Soheil Zarkandi v Misagh Imani dng phng php HCM (Homotopy Continuation Method) gii bi ton ng hc thun ca tay my 3-PRS. Qua , nhm tc gi so snh phng php HCM vi phng php Newton-Raphson. H gii mt tnh hung c th v tm ra c 6 li gii cho bi ton [13].

Hnh 16: Tay my song song 3-PRS

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Kho st vng lm vic: Chuyn ng ca tay my song song b gii hn bi nhiu yu t nh gii

hn v mt c kh ca cc khp lin kt, gii hn ca cc b chuyn ng, Cc loi vng lm vic: . Vng lm vic gc hng hng (constant orientation workspace) [4]: l

vng m v tr tm ca tm dch chuyn c th t c vi gc hng c nh. . Vng lm vic gc hng (orientation workspace): l cc gc hng m

tm ca tm dch chuyn c c khi ta tm ca tm dch chuyn c nh ti mt im. . Vng lm vic gc hng thay i (variable orientation workspace) [4]: l

vng m v tr tm ca tm dch chuyn t c vi gc hng trong khon cho trc. . Vng lm vic ton hng (total orientation workspace) [4]: l vng m v

tr tm ca tm dch chuyn t c vi tt c cc gc hng trong khon cho trc. Cc phng php kho st vng lm vic: . Phng php hnh hc: Mc ch ca phng php ny l xc nh bin

ca vng lm vic. Alexxandre Lecours v Clment Gosselin [12] trnh by thut gii da trn phng php hnh hc tm vng lm vic ca tay my 3-PRPR, hay cn gi l Tripteron (hnh ). Tripteron c 3 chn vi b tr cc khp tun t l P (khp tnh tin), R (khp quay), P v R.

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Hnh 17: Tripteron Mohammad M. Aref v Hamid D. Taghirad [14] s dng phng php hnh hc kho st tay my KNTU. y l loi tay my c b tc ng l 8 si cp cun.

Hnh 18: Tay my KNTU . Phng php kho st khng gian tham s [5]: y l phng php m

vng khng gian kho st c chia thnh li cc im (hay cn gi l cc nt) c nh theo h ta Descartes hoc theo ta cu. Ti cc nt y l tm ca khu tc ng cui v tin hnh kim tra cc rng buc, nu tha th nt y thuc vng lm vic.

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Phng php ny c nhng c im sau: chnh xc ca bin ph thuc vo s bc ly mu dng to li, thi gian kho st ph thuc v t l vi s bc ly mu v vng lm vic c th hin bi cc im. Tnh hc v phn tch cng vng: Khi c cu chp hnh thc hin cng

vic nh, b tc ng cui s tc ng lc v moment ln mi trng ngoi ti im tip xc. Lc v moment ny c to ra do cc b tc ng thit lp ti nhng im ni kt khc nhau. Trong c cu song song, lc b tc ng truyn qua nhiu ng dn song song n b tc ng cui. C cu chp hnh song song phc tp hn c cu chp hnh ni tip do c nhiu vng kn. Do cn tm cc phng trnh cn bng lc v moment cho tng khu v gii ng thi cc phng trnh ny. Nu ch xt cc lc v moment truyn ng, c th p dng nguyn l cng o. C hai phng php phn tch tnh hc v cng vng c cu chp hnh tay my song song l gin vt th t do v nguyn l cng o. Phng php gin v th t do s dng tt c cc phn lc tc dng ln cc khp hot ng v cc khp th ng. Nguyn l cng o c tnh trc tip, ch s dng cc lc khp hot ng. Nu khng xt trng lc, cc lc khp hot ng lin h vi cc lc b tc ng cui theo chuyn v ma trn Jacobi. ng lc hc: ng lc hc c cu chp hnh song song c nghin

cu nhiu trong nhng nm gn y nhng hin ti c rt t ti liu v lnh vc nghin cu ny. Vic phn tch ng lc hc c cu ny gp rt nhiu kh khn do s hin din ca nhiu chui vng kn. Nhiu phng php c cc nh khoa hc nghin cu nh h phng trnh Newton-Euler, h phng trnh Lagrange, nguyn l cng o, Phng php Newton-Euler i hi cc phng trnh chuyn ng phi c vit cho tng vt th trong c cu, nn c rt nhiu phng trnh v hiu sut tnh ton thp. Quy trnh gii bng phng php Newton-Euler gm 5 bc:

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Thc hin phn tch ng hc o cho c cu. Trc ht tnh v tr, vn

tc v gia tc cc khp cu chuyn ng trong cc phng trnh chuyn ng b. K tip tm v tr, vn tc, gia tc ca tm khi lng v vn tc gc, gia tc gc ca mi nhnh. . C cu chp hnh c chia thnh tm dch chuyn v cc nhnh truyn

ng vng h bng cch chia ct ti cc khp chuyn ng. . Xt tng nhnh theo h thng con, thit lp phng trnh chuyn ng

Euler ti cc khp c nh ca mi nhnh. Xc nh mt s phn lc ti cc khp chuyn ng. . Tm cc phn lc cn li bng cch lp cng thc cc phng trnh

chuyn ng Newton v Euler ca b. . Tm lc tc ng. Phng php Lagrange loi b mi phn lc v moment, hiu qu hn phng php Newton-Euler nhng do c nhiu rng buc t cc vng kn nn vic thit lp cc phng trnh chuyn ng theo tp hp cc ta c lp tng qut ha tr nn kh khn. n gin ha, c th dng thm cc ta v tp hp cc tha s Lagrange. Hin nay, nguyn l cng o l phng php phn tch hiu qu nht. Bc c bn khi p dng phng php ny l xc nh cc ma trn Jacobi khp lin h trng thi vn tc ca cc nhnh vi trng thi vn tc ca b di ng. S dng nguyn l cng o, cc phng trnh ng lc hc chuyn ng i vi c cu chp hnh phc tp c th c rt gn. Phng php ny hiu qu hn phng php Newton-Euler, c th c dng xc nh s iu khin thi gian thc cho c cu chp hnh song song. 3.4. ng dng ca tay my song song Tay my song song c ng dng rng ri vo trong cuc sng. Mt s ng dng c th ca tay my song song gm:

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ng dng trong cng nghip: Vo nm 1947, Eric Gough a ra cc nguyn l c bn v pht trin

thit b tn l Universal Tyre-Testing Machine (hay cn gi l Universal Rig) dng kim tra lp xe cho hng Dunlop. Thit b ny chnh thc i vo vn hnh vo nm 1955. Tm dch chuyn ca thit b ny c hnh lc gic, mi gc ni vi cc khu tc ng tuyn tnh bng cc khp cu. u cn li ca cc khu tc ng c ni vi b bng cc khp cardan. Cc khu c chiu di thay i do c cu dn ng tnh tin. Thit b ny vn s dng n nm 2000. Hin nay, thit b ny ang c trng by ti Vin bo tng khoa hc Anh.

Hnh 19: Tm dch chuyn Gough Mt loi tay my khc c ng dng rng ri trong cng nghip l robot Delta. Robot song song Delta c sng ch bi Reymond Clavel vo u thp nin 1980 vi tng l dng cc hnh bnh hnh ch to robot song song c 3 bc t do chuyn ng tnh tin v mt bc chuyn ng quay. Robot Delta nhn c 36 bng pht minh, trong c nhng bng sng ch quan trng nh ca WIPO (WO 87/03528 cp ny 18/06/1987), bng sng ch Hoa K (US 4,976,582 cp ngy 11/12/1990) v bng sng ch chu u (EP 0 250 470 cp ngy 17/07/1991). Robot Delta c dng trong dy chuyn ng gi thc phm, lm thit b nng gp

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Hnh 20: S ca robot Delta v ng dng nng gp trong cng ngh thc phm Dng lm thit b m phng: Vo nm 1965, Stewart [3] xut s dng c cu song song lm thit b m phng bay.

Hnh 21: Tm dch chuyn Stewart cole Nationale dE1quitation (Php) pht trin mt thit b c t tn l Persival dng hun luyn cc ni nga. Sn phm ny c thng mi ha.

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Hnh 22: Sn phm Persival ca cole Nationale dE1quitation (Php) KAIST (Hn Quc) pht trin thit b m phng xe p. Motek ch to Caren dng hun luyn th thao v phc hi chc nng cho ngi bnh v khuyt tt.

Hnh 23: B m phng xe p ca KAIST v sn phm Caren ca Motek Dng trong y hc: Cng ty Elekta (Thy in), mt cng ty chuyn v cc trang thit b y t dng robot Delta lm thit b nng gi knh hin vi c khi lng 20 kg dng trong vic gii phu.

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Hnh 24: SurgiScope ang vn hnh Surgical Robotics Lab, i hc Humboldt (Berlin, c) Mt d n ca chu u ch to robot CRIGOS (vit tt ca ch Compact Robot for Image Guided Orthopedic) s dng c cu Gough-Stewart nhm cung cp cho cc bc s phu thut vi mt cng c hiu sut cao cho phu thut xng.

Hnh 25: Robot CRIGOS dng phu thut ti to xng . Cc ng dng khc: Phng th nghim PCR ti i hc K thut Sharif thit k, m

phng, phn tch ng hc v ch to mt loi tay my song song dng leo

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ct in thay bng n thay cho cng nhn. y l loi robot c 3 chui ng hc, mi chui ng hc c b tr cc khp l UPU (U: khp cardan, P: khp lng tr).

Hnh 26: Robot leo ct ca Phng th nghim PCR 3.5. Cc nghin cu ti Vit Nam Cc tc gi Phm Vn Bch Ngc, V Thanh Quang, Trn Thng v

Phm Anh Tun ti Phng C in t, Vin C hc la chn m hnh, m phng ng lc hc v tnh ton thit k ch to mt robot c cu song song c th (Hexapod) ng dng trong gia cng c kh. Cc my cng c truyn thng sau khi thm b g vn nng c th gia cng c nhng chi tit c b mt phc tp m trc y khng thc hin c [15, 16]. Nhm tc gi cng ch to thnh cng thit b ny v thit b hin ang c trng by ti Vin C hc. u im ni bt ca loi robot ny l b mt tm di ng ca robot c th chuyn ng t do linh hot, v vy vic to hnh b mt c thc hin d dng hn v t yu cu v chnh xc cao hn. Kt cu ng hc ca robot song song c cng vng cao v chu c ti trng ln mc d kch thc robot nh. Tm hot ng ca robot rt rng, t vic lp rp cc chi tit cc nh ti cc chuyn ng thc hin cc chc nng phc tp i hi chnh
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xc cao nh: phay, khoan, tin, hn, lp rp... Ngoi ra, robot song song d dng c lp t cc v tr v cc hng khc nhau (trn thuyn v treo trn trn, tng...). im sng to trong nghin cu l vic thit k, pht trin v tch hp hon chnh mt h iu khin (phn cng v phn mm) cho Hexapod vi 2 phn chnh l: . Phn mm SACR 1.0 (Simulation and Control of robot), dng cho thi t k

qu o, m phng v iu khin robot. c bit, SACR c pht trin l h m v tng qut c th s dng cho cc loi robot khc nhau. . B iu khin v tr a trc c chc nng iu khin phi hp ng thi

su b truyn ng cho 6 c cu chp hnh ca PR6-01.

Hnh 27: M hnh thit b g v thit b thc t ti Vin C hc Nhm tc gi Nguyn Minh Thnh, Nguyn Ngc Lm, Trn Cng Tun

v Nguyn Cng Mu trnh by cch tip cn nhng cu hnh c bit ca tay my song song bng cch xem xt s bc t do ca khu ra v s lng cc chui ng hc ph lin kt vi nn v khu ra. L thuyt A.P. Kotelnikov cng c dng trong nhm vt duy nht biu din nhng nhm dch chuyn loi tr dch chuyn khng-iu khin ca khu ra [8]. Phng C in t (Vin C hc) [18] a ra mt gii php hon chnh

iu khin robot c cu song song, phn tch x l song song, x l phn tn v ng dng nguyn l Hardware-in-the-Loop trong m phng iu khin.
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Cc tc gi Trn Cng Tun, Nguyn Minh Thnh [5] s dng phng

php iu tra khng gian tham s kho st vng lm vic ca tay my song song c cc dn ng phn b bn ngoi khng gian lm vic. Cc nh nghin cu ti b mn C in t, Khoa C kh, i hc Bch

Khoa Tp.HCM l T Dip Cng Thnh v ng Vn Nghn [17] nghin cu v ch to b iu khin cho robot song song. Do c cu trc khc vi cu trc ni tip, nn nu dng cc phng php iu khin thng thng th tnh p ng ca robot s chm. Nhm tc gi ch to b iu khin robot c 6 khu ng hc c lp kt hp vi gii thut iu khin song song tng tnh p ng v linh hot cho robot.

Hnh 28: S khi ca b iu khin song song Cc tc gi Thi Th Thu H, H Thanh Tm nghin cu ng dng

robot song song trong my o ta CMM [17]. Nhm nghin cu ng Bo Lm, Phm Minh Hi v Phan Vn ng

nghin cu thut ton tm min lm vic ca h robot song song phng 3 bc t do [18]. Nhm tc gi Nguyn Thin Phc, Trn Minh Ngha v Nguyn nh Nin

nghin cu to dng robot song song loi hexa [19].

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Cc tc gi V Quang Vinh, Lm Hng Sn, V Thu H nghin cu

vn iu khin ti u chuyn ng tay my song song, VICA6, H Ni, 2005 [20]. Bi Quang c, ng Vn Nghn nghin cu thit k, ch to

robot Crane [21]. L Thanh Thy, Phm Anh Tun, Phm Vn Bch Ngc, Trn Thng

tin hnh m phng ng lc hc robot c cu song song [22]. H c Hin gii bi ton ng hc ngc c cu Hexapod 6 CTC

[23]. Tc gi H c Hin thit k ng hc my ct gt kim loi Hexapod

bng m phng [24]. 3.6. Cc hng nghin cu m rng Ta nhn thy mt iu l c mt s lng ln cc nghin cu v ng hc v tnh hc tay my song song v cc vn c gii quyt rt ro. Tuy nhin cn c t nghin cu v ng lc hc v iu khin, v cng c t bi bo v phn tch vng lm vic v phn tch cc cu hnh c bit, ch gii quyt tng phn ca vn ch cha h c c s phn tch trn vn v hon chnh. Mt vi vn cn m trong lnh vc tay my song song ang thu ht s quan tm ca cc nh nghin cu trong thi gian sp ti, bao gm: V ng lc hc v iu khin: nghin cu p ng ng lc hc ca tay

my thng qua vic m phng v s dng cc cng c phn tch/s hc, khm ph cc kh nng ca cc chin lc iu khin c bit em li u im cho cu trc song song ca tay my v ci thin cc tc v, t rt ra cc kt qu lin quan n vic quan st v iu khin. V vng lm vic v cu hnh c bit: vic m t vng lm vic mt cch

chi tit v d s dng, tm hiu tt c cc tnh cht ca cc dng cu hnh c

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bit, nghin cu vic phn on vng lm vic bi cc dng cu hnh c bit, tng hp vng lm vic ca tay my song song, v thit lp cc tiu chun cho cc ng i khng c cu hnh c bit vi mt th cho trc. V thit k: tng hp ng hc ti u ca tay my thu c vng lm

vic c iu kin tt, pht trin cc tay my song song c bc t do tha v tm hiu cc c tnh ca n, so snh cc tay my song song khng c bc t do tha vi cc tay my song song c bc t do tha thng qua vic vn hnh, u im ca tng loi. 4. Kt lun Trong chuyn ny, chng ta im li qu trnh hnh thnh v pht trin ca lnh vc nghin cu robot. T chng ta tm hiu k hn v robot song song, mt loi cu trc robot mi ang c cc nh khoa hc trn th gii c bit quan tm nghin cu. Chng ta tm hiu v cc c im ca robot song song, cc bi ton m cc nh khoa hc v ang nghin cu v loi robot ny nh cu trc hnh hc, ng hc, tnh hc, ng lc hc,... Ngoi ra chng ta cng im qua nhng hng nghin cu m rng m cc nh khoa hc cha tp trung nhiu. Ti Vit Nam, cc nh nghin cu cng c nhiu cng trnh v loi robot ny, nhng ch yu l nghin cu v tm dch chuyn Stewart. V xu hng sp ti s c mt s gia tng ng k cc cng trnh nghin cu loi robot ny ti Vit Nam trong thi gian sp ti. 5. Ti liu tham kho [1] Bonev I.A., Delta parallel robot The story of success, May 6, 2001,

http://www.parallemic.org/Reviews/Review002.html. [2] Trn Th San, C s nghin cu & sng to robot, Nh xut bn Thng

k, 2003.

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[3]

Stewart D., A platform with 6 degrees of freedom, Proc. Of the

Institution of mechanical engineers, 180 (Part 1, 15):371-386, 1965. [4] Jean-Pierre Merlet (2000), Parallel Robots, Kluwer Academic

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tay my song song c cc dn ng ph phn b bn ngoi vng lm vic bng phng php iu tra khng gian tham s, Tuyn tp bo co khoa hc k nim 25 nm thnh lp Vin nghin cu in t, Tin hc, T ng ha, trang 77-91, 2010. [6] Wisama Khalil, Ouarda Ibrahim (2007), General Solution for the

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Research, Proceedings of the 9th International Symposium, Snowbird, UT, United Kingdom, 9-12 Oct. 1999, pp. 27-32, 2000. [9] Lionel Birglen, Haptic Devices Based on Parallel Mechanisims - State

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[12] Mohammad M. Aref and Hamid D. Taghirad, Geometrical Workspace Analysis of a Cable-Driven Redundan Parallel Manipulator: KNTU CDRPM, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Acropolis Convention Center, Nice, France, Sept, 22-26, 2008. [13] Phm Vn Bch Ngc, V Quang Thng, Trn Thng, Phm Anh Tun, M phng v thit k Hexapod cho gia cng c kh chnh xc, Hi ngh ton quc ln 2 v C in t, Tp.HCM, 2004. [14] Phm Vn Bch Ngc, V Quang Thng, Trn Thng, Phm Anh Tun, Thit k robot c cu song song (Hexapod) ng dng trong gia cng c kh chnh xc, bo co ti Hi ngh C hc ton quc nhn dp 25 nm thnh lp Vin C hc, 04/2004. [15] T Dip Cng Thnh, ng Vn Nghn, B iu khin Parallel Robot, B mn C in t, Khoa C kh, i hc Bch Khoa Tp.HCM. [16] inh Cng Hun, Vng Th Diu Hng, Th Ngc Oanh, Nguyn Huy Thy, Phm Anh Tun, Mt gii php iu khin robot c cu song song, Hi ngh ton quc ln 2 v C in t, Tp.HCM, 2004. [17] Thi Th Thu H, H Thanh Tm, ng dng robot song song trong my o ta CMM, VICA6, H Ni, 2005. [18] ng Bo Lm, Phm Minh Hi, Phan Vn ng, Thut ton tm min lm vic ca h robot sonng song phng 3 bc t do, VICA6, H Ni, 2005. [19] Nguyn Thin Phc, Trn Minh Ngha, Nguyn nh Nin, Nghin cu to dng robot song song loi HEXA, VICA6, H Ni, 2005. [20] V Quang Vinh, Lm Hng Sn, V Thu H, iu khin ti u chuyn ng tay my song song, VICA6, H Ni, 2005. [21] Bi Quang c, ng Vn Nghn, Thit k, ch to robot Crane, Hi ngh ton quc ln 1 v C in t, H Ni, 2002.

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