173

Hi ngh C hc k thut ton quc

K nim 35 nm thnh lp Vin C hc. H Ni, 09/04/2014

Tnh ton, thit k mu robot song song 3 bc t do tnh tin

Phm Vn Bch Ngc1, Trn Minh Tuyn1
1

Vin C hc, Vin Hn lm Khoa hc v Cng ngh Vit Nam

Email: pbngoc@imech.ac.vn

Tm tt
Ngy nay, nghin cu ng dng mt cu trc robot mi trong cng nghip nhm khc phc cc nhc im ca robot
chui v robot song song ang c quan tm ca nhiu nh khoa hc. Trong bi bo ny, tc gi gii thiu mt cu trc
robot song song c 3 bc t do tnh tin da trn cu trc Delta vi mong mun lm ch kh nng tnh ton, thit k, tin n
ch to ti Vit Nam. So vi cc robot chui, robot song song 3 bc t do tnh tin c cu trc cng vng hn, tc lm
vic cao hn, v chnh xc cng cao hn. Khc vi cc robot song song thng thng, robot song song 3 bc t do tnh
tin khc phc c nhc im v khng gian lm vic, cng nh linh hot. Trong nghin cu ny, tc gi s gii thiu
mt s kt qu tnh ton v ng hc, ng lc hc, v m hnh thit k 3D nhm lm c s cho vic thit k chi tit v iu
khin robot song song 3 bc t do tnh tin.
T kha: robot song song, ng hc v ng lc hc, robot song song 3 bc t do, delta robot.

1. Phn m u
Nhng nm 1960 1970, th gii tp trung sn xut cc loi robot cng nghip, lm nhng cng vic c
nh thay th sc ngi trong cc nh my x nghip, c bit trong cc mi trng c hi m con ngi khng
trc tip lm vic c nh nh my in ht nhn, ngnh sn, cng nghip hn, ng tu... n nhng nm
1980 1990, cc nh khoa hc tp trung nghin cu, pht trin cc loi robot dch v, robot phc v khm
ph v tr, robot chuyn dng phc v quc phng, an ninh, hay robot chm sc sc khe, cc robot thng minh
phc v trong y t, robot phc v gia nhRobot chui c ng dng ph bin trong hu ht cc nn cng
nghip hin i bi li th v gi thnh, tnh linh hot cao trong cc ng dng, d dng thay i i tng lm
vic... Vi th mnh v chnh xc, tc lm vic v cng vng, nhng robot cu trc song song c
ng dng nhiu trong cc ngnh cng nghip yu cu cho ra cc sn phm c chnh xc cao, nh cc my
CNC, cc thit b ch to khun mu, Do vy vic kt hp c th mnh ca 2 loi robot ny ang l mong
mun ca nhiu nh khoa hc. Mt trong cc gii php ang c hng ti l tm cch ci thin tc lm
vic, tng cng vng, tng chnh xc cho cc robot cng nghip bng cch tm ra cc cu trc mi [7]
nhm ng dng cho robot khc phc cc hn ch ca cc robot cng nghip hin c. c nhiu nghin cu
a ra cc thit k mi v cu trc c th p ng c yu cu trn [7], tuy nhin mt trong nhng nghin cu
c qua tm nht do GS Reymond Clavel a ra c t tn l Delta. Cu trc ny l s kt hp ca 3 cu
trc chui v 3 cu trc song song, cng vi vic s dng cc 12 khp cu v 3 khp quay c b tr c bit
to ra mt robot c tc lm vic cao v linh hot. Ti thi im , cu trc Delta c cc nh khoa hc
ng thi nh gi l tng xut sc. Robot do GS Reymond Clavel c 3 bc t do chuyn ng tnh tin
theo 3 phng OX, OY v OZ ca h ta OXYZ c gi l Delta robot. y l c s u tin cho vic thit
k cc mu robot song song 3 bc t do tnh tin sau ny.
Trong bi bo ny, tc gi xut mt m hnh robot song song 3 bc t do tnh tin da trn cu trc
Delta c dn ng bi 3 ng c gm c 3 cu trc chui, 3 cu trc vng kn, nhm tng cng vng, tng
tc lm vic v tng chnh xc so vi cc robot cng nghip thng thng. Nhm phc v cho thit k chi
tit, ch to cng nh iu khin chnh xc hot ng ca robot chng ti tp trung vo vic tnh ton, m phng
ng hc, ng lc hc ca robot song song 3 bc t do tnh tin, v cc thng s hnh hc cng bn v mu 3D
ca robot song song 3 bc t do tnh tin ny.

2. Xy dng phng trnh ng hc ca robot song song 3 bc t do tnh tin

2.1. Phng trnh ng hc ngc
H ta v thng s ng hc ca robot song song 3 bc t do tnh tin c biu din trn hnh 1, trong
cc tham s u1,i u 2, i l cc vc t ch phng ca cu trc chui v cu trc vng kn, l1i l chiu di ca cu

174

Phm Vn Bch Ngc, Trn Minh Tuyn

trc chui v l 2i l chiu di thanh lin kt ca cu trc vng kn, a l bn knh tm c nh, v b l bn knh tm
di ng.
P

Ci

Ci

Ci

l 2 iu 2 i

l2 u 2 i

l2 u 2 i

3i

2i

2i

Bi

l1u1i

Ai

zi

zi

l1iu1i

1i

Bi

Bi

l1u1i

zi yi

Bi'

yi
Ai

xi

1i

(a)

xi

Ai
(b)

Hnh 1: S vc t robot song song 3 bc t do tnh tin

Da trn hnh 1a phng trnh vc t ca robot song song ba bc t do tnh tin c biu din nh sau:
(1)
Ai Bi Bi Ci OP PCi OAi hay l1iu1i l2i u 2i p b - a
Biu din phng trnh vc t (1) ln h ta xi , yi , zi vi, i 1, 2, 3 ta c
l1 cos 1i l2 sin 3i cos 1i 2i c xi

c
l 2 cos 3i

yi
l1 sin 1i l2 sin 3i sin 1i 2i c zi

(2)

trong
c xi cos i

c yi - sin i
c zi 0

sin i
cos i
0

0 px a - b

0 p y 0
1 p z 0

Gii h phng trnh (2) ta c cc gc quay ca robot song song ba bc t do tnh tin
c yi
sin 1i
c xi g 2i c zi g1i
, 2i arccos v 1i arctan

3i arccos

cos arctan c g c g
l
1i
zi 2i
xi 1i
2

vi g 2i l2 sin 3i sin 2i , g1i l1 l2 sin 3i cos 2i , c xi2 c 2yi c zi2 l12 l22

2l l

12

(3)

sin 3i .

2.2 Phng trnh ng hc thun

Trong bi ton ny cc tham s bit l q 11 ,12 ,13 T , tham s cn tm l ta v tr ca trng

tm ca tm di ng p px , p y , pz
l2 sin 3i cos1i 2i cos i

sin
l 2 cos 3i
i

l 2 sin 3i sin 1i 2i 0

T . Da trn hnh 1b phng trnh vc t (1) ca h c vit li nh sau

sin i
cosi
0

0 p x l1 cos 1i a b

0 p y
0

1 p z
l1 sin 1i

(4)

Gii h phng trnh trn ta c

l 22 p x2 p 2y p 2z 2 p x cos i p y sin i l1 cos 1i a b 2 p z l1 sin 1i l1 cos 1i a b l1 sin 1i

(5)

trong i 1, 2, 3
Gii phng trnh (5) ta c p x , p y nh sau
p x 1 q0 p z q3

p y q2 q1 p z q4
trong ,

(6)

Tnh ton, thit k mu robot song song 3 bc t do tnh tin

175

e1 j 2 cos j l1 cos 1 j a b 2 cos 1 l1 cos 11 a b

q0 e22 e33 e23e32 ,

q3 e22 e43 e23e42 ,

q1 e13e32 e12 e33 , v q4 e13 e42 e12 e43 , v

q5 l1 cos 11 a b

q2 e12 e23 e22 e13 ,

e2 j 2 sin j l1 cos 1 j a b 2 sin 1 l1 cos 11 a b

e3 j 2l1sin1 j 2l1 sin 11

e4 j l1 cos 11 a b 2 l1 sin 11 2 l1 cos 1 j a b 2 l1 sin 1 j

Thay p x , p y vo phng trnh (5) ta c

k 0 p z2 k1 p z k 2 0

(7)

vi,
k0 1

q02 q12
2q q
2q q
2q q
2q q
2 , k1 02 3 12 4 2l1 sin 11 0 5 cos 1 1 5 sin 1 ,
2
q
q2
q2
q2
q2 q 2
2

k 2 q52 l22

q32

q22

q 42
q 22

l1 sin 11 2

2q3 q5
2q q
cos 1 4 5 sin 1 .
q2
q2

Phng trnh (6) v (7) biu din v tr ca trng tm ca khu cui cng ca robot song song ba bc t do
tnh tin.

3. Phng trnh ng lc hc ca robot song song 3 bc t do tnh tin

C nhiu phng php xy dng phng trnh ng lc hc ca robot, tuy nhin trong bi bo ny
nhm tc gi s dng phng trnh Lagrange xy dng phng trnh ng lc hc ca robot song song ba bc
t do tnh tin. Phng trnh Lagange c vit li nh sau [2]:
k
d L L

(8)

Qj
i i for j 1, , n

dt q j q j
q j
i 1

trong k s lng cc rng buc, i nhn t Lagrange.

Ta suy rng ca h phng trnh (8) c biu din nh sau

q p x , p y , p z , 11 , 12 , 13

Phng trnh nhn t Lagrange c vit nh sau

k

d L L
i i

Q j vi j 1,2,3
q j dt q j q j
i 1

(9)

vi Q j : tng cc ngoi lc tc dng ln h.

Phng trnh ng lc hc ngc c biu din nh sau
k
d L L

(10)
Qj

i i vi j 4 ,5,6
dt q j q j i 1 q j
Hm rng buc ca robot song song c xy dng da trn tnh cht khong cch gia hai khp B v C
(hnh 1) lun lun bng vi chiu di ca cu trc chui [2] v c vit li nh sau

i Ci Bi l22 p x b cos i a cos i l1 cos i cos 1i 2 p y b sin i a sin i l1 sin i cos 1i

2 p z l1 sin 1i 2 l22 vi i 1, 2, 3

ng nng ca h l tng ng nng ca khu cui K p (moving platform), cu trc chui K1i , v cu trc
vng kn K 2i c biu din nh phng trnh sau:
3

K Kp

1i

K 2i

i 1

Th nng ca h l tng th nng ca khu cui U p (moving platform), cu trc chui U1i , v cu trc
vng kn U 2 i c biu din nh phng trnh sau:

176

Phm Vn Bch Ngc, Trn Minh Tuyn

U U p

1i

U 2i

i1

Thay s v bin i ta thu c hm Lagrange ca h nh sau

L K U

1
1
m p 3m2 p x2 p 2y p z2 I m I1 m1l12 x2 2y z2
2
2
m p 3m2 g c p z m1l1c m2l1 g c sin 11 sin 12 sin 13

(11)

trong I m m men qun tnh phn quay ca ng c dn ng, I1 m men qun tnh ca cu trc chui
o hm phng trnh (11) thay vo (9) ta xc nh nhn t Lagrange, sau gii (8) ta c m men ti
cc bin khp ca robot v c vit nh sau:

I
I

I m l
I m l

12 m1l1c m2l1 g c cos 12 2l12 p x cos 2 p y sin 2 b a sin 12 p z cos 12

13 m1l1c m2 l1 g c cos 13 2l13 p x cos 3 p y sin 3 b a sin 13 p z cos 13

1 I m I1 m2l12 11 m1l1c m2l1 g c cos 11 2l11 p x cos 1 p y sin 1 b a sin 11 p z cos 11

2
3

m
m

2
21

2
21

(12)

4. Kt qu m phng ng hc v ng lc ca robot song song 3 bc t do tnh tin

4.1 Phng trnh qu o chuyn ng ca robot
Phng trnh qu o chuyn ng ca robot t im n im (im u n im cui) c xy dng
bng hm ton hc bc 3 [1] nh sau:
qt a0 a1t a2t 2 a3t 3
(13)
Cc h s ca (13) c xc nh bng cch gii h phng trnh sau
1 t 0 t 02
t 03 a0 q0

2
0 1 2t 0 3t 0 a1 v0

1 t
t 2f
t 3f a2 q f
f

2
0 1 2t f 3t f a3 v f

(14)

trong qt 0 q0 , q t 0 v0 , q t f q f , q t f v f v t 0 , q0 , v0 ln lt l thi gian, v tr v vn tc im u,

t f , q f , v f ln lt l thi gian, v tr v vn tc im cui.

Hnh 2 l kt qu xy dng qu o chuyn ng ca khu cui ca robot song song 3 bc t do tnh tin
t -0.25 [m] n 0.25 [m] vi vn tc 8m/s v gia tc 100m/s2.
pos[m]

0.5

-0.5

0.02

0.04

0.06

0.08

0.1

0.12

0.14

0.16

0.02

0.04

0.06

0.08

0.1

0.12

0.14

0.16

0.02

0.04

0.06

0.08
time[sec]

0.1

0.12

0.14

0.16

vel[m/s]

10

acc[m/s2]

100

-100

Hnh 2: Qu o chuyn ng ca khu cui ln lt l qu o, vn tc, v gia tc

4.2 Kt qu m phng ng hc v ng lc hc ngc
tnh ton kt qu m phng ng lc hc ca robot song song ba bc t do tnh tin tc gi s dng
matlab v cc phng trnh ng hc cng nh ng lc hc ngc xy dng c trn, kt qu m phng
c trnh by trn hnh 3 v 4 v bng 1 l cc thng s hnh hc cng nh ng lc hc ca robot song song 3
bc t do tnh tin.

Tnh ton, thit k mu robot song song 3 bc t do tnh tin

177

Bng 1. Thng s phc v m phng ng hc v ng lc hc

Tn chi tit
Khi lng cu trc chui ma [kg]
Khi lng cu trc vng kn mb [kg]
Khi lng tm di ng m p [kg]

Ga tr
0.426
0.069
0.096

Bn knh c nh a [mm]
Bn knh tm di ng b [mm]
Chiu di cu trc chui l1 [mm]
Chiu di cu trc vng kn l 2 [mm]

100
22
171
396

100
th1 [deg]

th1 [deg]

100
50
0

0
0

0.02

0.04

0.06

0.08
time [sec]

0.1

0.12

0.14

0.16

th1 [deg]

th1 [deg]

50

0.02

0.04

0.06

0.08
time [sec]

0.1

0.12

0.14

0.04

0.06

0.08
time [sec]

0.1

0.12

0.14

0.16

0.02

0.04

0.06

0.08
time [sec]

0.1

0.12

0.14

0.16

0.02

0.04

0.06

0.08
time [sec]

0.1

0.12

0.14

0.16

100
th1 [deg]

th1 [deg]

0.02

50

0.16

100
50
0

100

100

50

0.02

0.04

0.06

0.08
time [sec]

0.1

0.12

0.14

50
0

0.16

Hnh 3: Gi tr cc bin khp 1, 2 v 3 theo phng OX, OY

Hnh 3 l gi tr cc gc 1i vi i 1, 2, 3 ca bi ton ng hc ngc robot song song 3 bc t do tnh
tin khi khu cui ln lt chuyn ng tnh tin trn phng OX v phng OY vi qu o khu cui c
xy dng nh phn trn.
50
tau1[Nm]

tau1[Nm]

50
0
-50

0.02

0.04

0.06

0.08
time[sec]

0.1

0.12

0.14

-50

0.16

0.02

0.04

0.06

0.08
time[sec]

0.1

0.12

0.14

0.04

0.06

0.08
time[sec]

0.1

0.12

0.14

0.16

0.02

0.04

0.06

0.08
time[sec]

0.1

0.12

0.14

0.16

0.02

0.04

0.06

0.08
time[sec]

0.1

0.12

0.14

0.16

50
tau3[Nm]

tau3[Nm]

0.02

0
-20

0.16

50
0
-50

20
tau2[Nm]

tau2[Nm]

50

-50

0.02

0.04

0.06

0.08
time[sec]

0.1

0.12

0.14

0.16

0
-50

Hnh 4: M mem cc bin khp 1, 2 v 3 theo phng OX, OY vi qu o khu cui c xy dng nh
phn trn.
Hnh 4 l gi tr m men dn ng i vi i 1, 2, 3 ca bi ton ng lc hc robot song song 3 bc t do
tnh tin khi khu cui ln lt chuyn ng tnh tin trn phng OX v phng OY. Trong bi ton ny chng
ti tin hnh tnh ton ng lc hc ca robot ti v tr c cho l chu m mem ln nht do cc m men
c tnh ton y s c s dng cho vic chn ng c dn ng cng nh tnh ton bn cc chi tit sau
ny.

5. Thit k m hnh robot song song 3 bc t do tnh tin

a trn cc kt qu tnh ton ng hc v ng lc hc robot song song 3 bc t do tnh tin trn v cc
tnh ton s b chng ti tin hnh thit k m hnh 3D phn c kh ca robot vi cc thng s hnh hc c bn
nh bng 2. y l vic lm cn thit nhm hn ch cc sai st v ri ro trc khi tin hnh thit k chi tit v
ch to robot song song 3 bc t do tnh tin.

178

Phm Vn Bch Ngc, Trn Minh Tuyn

Bng 2. Thng s hnh hc ca robot song song 3 bc t do tnh tin
Tn chi tit
Bn knh c nh a [mm]
Bn knh tm di ng b [mm]
Chiu di cu trc chui l1 [mm]
Chiu di cu trc vng kn l 2 [mm]

Kch thc
100
22
171
396

Hnh 5 gii thiu m hnh robot song song 3 bc t do tnh tin c thit k bng phn mm Solidwork,
vi ba ng c dn ng 1, 2 v 3, robot ny c 3 bc t do tnh tin chuyn ng theo 3 trc OX, OY v OZ ca
h ta c quy nh nh trn hnh v.

Khp quay

Khp cu
O

Khp cu
Z
l 3 ng c dn ng,
ln lt l cu trc chui, v cu trc song song,
Hnh 5: M hnh thit k 3D robot song song ba bc t do tnh tin

l tm di ng.

6. Kt lun
Trong bo co ny cc tc gi trnh by tng quan v a ra mt m hnh thit k robot song song 3 bc
t do tnh tin. Bi bo xy dng c phng trnh ng hc thun, ng hc ngc v phng trnh ng
lc hc ngc ca robot song song 3 bc t do tnh tin. Bn v thit k m hnh 3D robot song song 3 bc t do
tnh tin c xy dng. hon thin robot song song 3 bc t do tnh tin, trong cc nghin cu tip theo
chng ti s tin hnh tnh ton bn cc cu trc da trn m men tnh c t bi ton ng lc hc v thit
k ch to cng nh pht trin h thng iu khin v tp trung lm thc nghim hon thin h thng iu
khin cng nh cu trc c kh ca h thng robot ny.

Li cm n
Tc gi xin chn thnh cm n s gip cho nghin cu ny t VAST.

Ti liu tham kho

[1]. Mark W.Spong, Seth Hutchinson, M.Vidyasagar, Robot Modeling and Control, John Wiley&Sons, Inc.
[2]. Lung-Wen Tsai, Robot analysis The Mechanics of Serial and Parallel Manipulator, John Wiley and Sons,
Inc, 1999.
[3]. Clavel R, Delta, a Fast Robot with Parallel Geometry. 18th Int. Sym. on Industrial Robots, Sydney,
Australia, 91-100, 1988.
[4]. Liu X. J, Optimal Kinematic Design of a Three Translational DoFs Parallel Manipulator. Robotica, Vol. 24,
No. 2, 239-250, 2006.
[5]. Lee K. M., Shah D. K., Kinematic Analysis of A Three degree-of-Freedom In-Parallel Actuated
[6]. Manipulator, IEEE J. of Robotics and Automation, 1988, Vo1.4, No.3, 354-360.
[7]. STRUCTURAL SYNTHESIS OF PARALLEL ROBOTS, GRIGORE GOGU, Published by Springer, the
Netherlands.