Mo Hinh Hoa Va Mo Phong Robot Song Song Loai Hexapod PDF

I HC THI NGUYN
CNG HO X HI CH NGHA VIT NAM
TRNG HKT CNG NGHIP
***
c lp - T do - Hnh phc
------------------o0o------------------
THUYT MINH
LUN VN THC S K THUT

TI:
M HNH HO V M PHNG
ROBOT SONG SONG LOI HEXAPOD
Hc vin: Trn Th Thanh Hi

Lp: CHK8
Chuyn ngnh: T ng ho
Ngi HD khoa hc: PGS. TSKH Nguyn Phng Quang
Ngy giao ti: 01 / 12 / 2007
Ngy hon thnh:
KHOA SAU I HC
NGI HNG DN
PGS.TSKH Nguyn Phng Quang
HC VIN
Trn T.T Hi
I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP
----------------------------------------------------------
LUN VN THC S K THUT

NGNH: T NG HO
M HNH HO V M PHNG
Hc vin: Trn Th Thanh Hi

Ngi HD khoa hc: PGS. TSKH. Nguyn Phng Quang
THI NGUYN 2008
TRN TH THANH HI
I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP
----------------------------------------------------------
LUN VN THC S K THUT

T NG HO
NGNH: T NG HO
M HNH HO V M PHNG
TRN TH THANH HI
2005 2008
THI
NGUYN
2008
THI NGUYN 2008
MC LC
Trang
Mc lc
Danh mc cc k hiu, cc ch vit tt
Danh mc hnh v, th
Li m u
Chng 1- Nghin cu tng quan v Robot
1.1 Gii thiu chung v Robot
1.1.1 Khi nim v Robot
1.1.2 Phn loi Robot
10
1.1.2.1 Phn loi theo dng hnh hc ca khng gian hot ng
10
1.1.2.2 Phn loi theo th h
12
1.1.2.3 Phn loi theo b iu khin
15
1.1.2.4 Phn loi theo ngun dn ng
16
1.1.2.5 Phn loi theo kt cu ng hc
17
1.2 Tng quan v Robot song song loi Hexapod
20
1.2.1 Vi nt chung v Robot song song
20
1.2.2 Robot song song loi Hexapod
25
1.2.2.1 Cu trc hnh hc
26
1.2.2.2 M t ton hc ca i tng Hexapod
26
Chng 2- M hnh ho Robot song song loi Hexapod
32
bng b cng c SimMechanics

2.1 Gii thiu chung v b cng c SimMechanics
33
2.1.1 Simmechanics v ng dng ca SimMechanics
33
2.1.2 M t chuyn ng vi SimMechanics
34
2.1.2.1 Chuyn ng v trng thi chuyn ng
S ha bi Trung tm Hc liu i hc Thi Nguyn
34
http://www.lrc-tnu.edu.vn
2.1.2.2 Chuyn ng ca thn trong SimMechanics
34
2.1.2.3 SimMechanics thay th s nh hng ca thn
36
2.1.2 Th vin cc khi chun ca SimMechanics
38
2.1.2.1 Th vin cc khi Bodies
39
2.1.2.2 Th vin cc khi hn ch v truyn ng
40
2.1.2.3 Th vin cc phn t lc
41
2.1.2.4 Th vin cc khp
41
2.1.2.5 Th vin c cu chp hnh v thit b o
42
2.1.2.6 Cc ng dng khc
43
2.2 M hnh ho Robot song song loi Hexapod
44
2.2.1 Xy dng m hnh khi SimMechanics
44
2.2.2 Xy dng cu trc tng chn
46
2.2.2.1 Cu trc chn th nht
46
2.2.2.2 Cu trc chn hai, ba, bn, nm, su
47
2.2.3 nh dng cc khi
50
2.2.3.1 Tnh ton cc thng s c trng cn thit ca tng khi
50
2.2.3.2 nh dng cc khi trong s SimMechanics
61
2.2.4 Hon chnh m hnh ca Hexapod
65
Chng 3- Kho st hot ng ca Robot song song loi Hexapod
71
3.1 Kho st hot ng ca Hexapod ch ng hc ngc
72
3.1.1 Xy dng m hnh
72
3.1.2 La chn ch v kt qu
76
3.2 Kho st hot ng ca Hexapod ch ng hc thun
79
3.3 Cc s Simulink phc v m phng ton b h thng Hexapod
82
3.3.1 C s ton hc
82
3.3.2 Xy dng cc h thng con
84
3.3.2.1 Khi Plant
84
3.3.2.2 Khi Leg Tranjectory
85
3.3.2.3 B iu khin PID
88
3.3.2.4 Khi im t trc
89
Kt lun
91
Ti liu tham kho
92
TM TT LUN VN
Lun vn hon thnh trong thi gian, mc d trong qu trnh lm lun vn
gp rt nhiu kh khn trong vic tm kim thng tin v ti liu nghin cu nhng
c s hng dn, ch bo tn tnh ca PGS. TSKH. Nguyn Phng Quang ti
t c mt s kt qu sau:
- Nghin cu tng quan v Robot ni chung v Robot song song ni ring.
a ra c m hnh ton hc ca i tng Hexapod (bc t do c cu, phng
trnh ng hc ngc v mt s thng s k thut ca Hexapod).
- Tm hiu b cng c SimMechanics trong Matlab / Simmulink vi cc ng
dng ca b cng c ny trong vic m hnh ho cc c cu c kh. Trn c s
tin hnh m hnh ho Robot song song lo i Hexapod bng SimMechanics.
-
Kho st hot ng ca Robot song song loi Hexapod 2 ch ng
hc ngc v ng hc thun. Xy dng mt s s Simulink phc v m phng

ton b h thng Hexapod khi mun h thng c iu khin theo mt qu o
nh trc.
Bn cnh nhng kt qu t c, ti cn tn ti mt s hn ch, tc gi
mi ch a ra thut ton iu khin s dng b iu khin PID kinh in. Hng
pht trin ca ti l s nng cp thut ton iu khin t chnh xc cao
hn trong qu trnh iu khin.
Mt ln na ti xin chn thnh cm n PGS. TSKH. Nguyn Phng Quang,
ngi thy trc tip hng dn ti trong sut qu trnh nghin cu lm lun vn.
V l do thi gian, trnh cng nh nhng hn ch k trn, lun vn chc chn
khng trnh khi nhng thiu st, ti rt mong nhn c nhng kin nhn xt,
ng gp kin ca cc thy c v cc bn.
Xin chn thnh cm n!
KEYWORDS
Hexapod
Parallel Kinematic
SimMechanics
Spherical
Prismatic.
-1
DANH MC CC K HIU V CH VIT TT
K HIU, CH VIT TT
TN Y
BP
Base Platform - Mt nn c nh.
CG
Center of Gravity - im trng tm
CS
Coordinate system - H to
Force - Lc (N)
LL
Lower leg - Chn di
LS
Lower Spherical - Khp cu di
Motion - Chuyn ng
Pos
Position - V tr
TP
Top Platform (mobile platform) Mt nn di ng cha im tc ng

cui End Effector
UL
Upper leg - Chn trn
US
Upper Spherical - Khp cu trn
Vel
Velocity - Tc
-2
DANH MC HNH V - TH
Trang
Hnh 1.1
Nguyn l lm vic, khng gian lm vic v s ng hc
11
ca Robot to vung gc.

Hnh 1.2
11
ca Robot to tr.
Hnh 1.3
12
ca Robot to cu.
Hnh 1.4
12
ca Robot lin kt bn l.
Hnh 1.5
Mt dng Robot gp t.
16
Hnh 1.6
Mt loi Robot sn thc hin ng dn lin tc.
16
Hnh 1.7
Cu trc ni tip.
17
Hnh 1.8
Cu trc song song.
18
Hnh 1.9
Thit b m phng chuyn ng do James Swinnett ng k
20
sng ch nm 1931.
Hnh 1.10 Robot sn vi kt cu ng hc song song do V. Willard,
21
V.Pollard ng k sng ch nm 1942.

Hnh 1.11 Mt bn cng tc Gough nguyn bn.
21
Hnh 1.12 Stewart Gough Platform.
22
Hnh 1.13 Thit b m phng bay u tin c thng mi ho do
23
Klan Cappel pht trin vo gia nhng nm 60.

Hnh 1.14 Quan st giao thoa nh Hexapod.
24
Hnh 1.15 Nguyn l Hexapod ng dng trong thit b m phng bay.
24
Hnh 1.16 Nguyn l Hexapod ng dng trong y hc.
25
Hnh 1.17 S nguyn l Hexapod m ti la chn.
25
Hnh 1.18 S khi cc khp ca Hexapod.
26
-3
Hnh 1.19 M hnh khp cu v khp trt.
27
Hnh 1.20 M hnh Robot Hexapod trong khng gian.
28
Hnh 1.21 Phn tch hnh hc cc chi tit ca Hexapod.
29
Hnh 1.22 S nguyn l chi tit ca Hexapod.
31
Hnh 2.1
H to ton th v h to tng i
Hnh 2.2
Th vin cc khi chun ca SimMechanics.
34
Hnh 2.3
Th vin cc khi Bodies.
35
Hnh 2.4
Th vin cc khi hn ch v truyn ng.
36
Hnh 2.5
Th vin cc phn t lc.
36
Hnh 2.6
Th vin cc khp.
37
Hnh 2.7
Th vin c cu chp hnh v thit b o.
38
Hnh 2.8
Th vin cc ng dng khc.
38
Hnh 2.9
Nguyn l Hexapod.
39
Hnh 2.10 M hnh Hexapod trong SimMechanics.
40
Hnh 2.11 Nguyn l cu trc chn Leg 1.
41
Hnh 2.12 S cu trc chn th nht.
42
Hnh 2.13 S cu trc chn th hai.
43
Hnh 2.14 S cu trc chn th ba.
43
Hnh 2.15 S cu trc chn th t.
43
Hnh 2.16 S cu trc chn th nm.
44
Hnh 2.17 S cu trc chn th su.
44
Hnh 2.18 M hnh Hexapod trong khng gian.
45
Hnh 2.19 S v tr tm cc khp cu.
46
Hnh 2.20 S cu trc chi tit ca mt chn.
47
Hnh 2.21 Bng tham s khp cu trn.
56
Hnh 2.22 Bng tham s khp cu di.
57
Hnh 2.23 Bng tham s khp trt.
57
Hnh 2.24 Bng tham s khi Upper leg.
58
Hnh 2.25 Bng tham s khi Upper leg modul Orientation.
59
-4
Hnh 2.26 Bng tham s khi Lower leg.
59
Hnh 2.27 Bng tham s khi Ground.
60
Hnh 2.28 M hnh hon chnh ca Leg 1 trong SimMechanics.
61
Hnh 2.29 Bng tham s khi Actuator.
62
Hnh 2.30 Bng tham s khi Joint Sensor.
63
Hnh 2.31 Bng tham s khi Body.
63
Hnh 2.32 Bng tham s khi Body Sensor.
64
Hnh 2.33 M hnh SimMechanics hon chnh ca Hexapod.
65
Hnh 3.1
M hnh SimMechanics hon chnh ca Hexapod.
67
Hnh 3.2
M hnh SimMechanics ca Hexapod ch ng hc
68
ngc.
Hnh 3.3
Cu trc chn Hexapod ch ng hc ngc.
69
Hnh 3.4
Bng tham s khi Joint Sensor.
70
Hnh 3.5
Bng tham s khi Joint Actuator.
70
Hnh 3.6
Bng tham s khi Machine Environment.
71
Hnh 3.7
Bng tham s khi Machine Environment i vi modul
72
Constraint.
Hnh 3.8
Bng tham s khi Motion.
72
Hnh 3.9
V tr chuyn ng ca End Effector.
73
Hnh 3.10 M hnh SimMechanics ca Hexapod ch ng hc
74
thun.
Hnh 3.11 th chuyn ng ca End Effector.
75
Hnh 3.12 th v tr chuyn ng ca cc khp.
76
Hnh 3.13 th tc chuyn ng ca cc khp.
76
Hnh 3.14 M hnh Simulink phc v iu khin.
77
Hnh 3.15 M hnh Hexapod trong khng gian.
78
Hnh 3.16 Khi Plant.
79
Hnh 3.17 u vo v u ra khi Plant.
80
Hnh 3.18 S khi Leg Trajectory.
80
-5
Hnh 3.19 S khi Compute vector of Leg lengths.
82
Hnh 3.20 S khi Leg length 1.
83
Hnh 3.21 S khi b iu khin.
84
Hnh 3.22 S khi im t trc.
84
Hnh 3.23 th chuyn ng ca im tc ng cui End Effector
85
-6
M U
tng v nhng c cu vi cc khu ng hc song song xut hin v
c thc hin bi Gough v Steward vo nhng nm 50 - 60 ca th k XX.
Nhng c cu loi ny c gi l nn tng Steward - Gough. Nn tng Steward Gough v c bn c s dng m phng. Sau , vo nm 1983 Hunt a ra
h thng nghin cu v cu trc ng hc song song. K t cu trc ng hc
song song c nghin cu trn mt phm vi rt rng ln. Chng c u im l
cng vng cao hn, kh nng chu ti ln hn v qun tnh thp hn c cu ng
hc ni tip.
Thng thng mt c cu ng hc song song gm mt mt nn di ng
(moving / mobile platform) v mt mt nn c nh c ni vi nhau bi cc ch n.
V c bn s chn ca Robot bng s bc t do ca c cu. Mi khu lm vic vi
mt b iu khin.
Cn Vit Nam, trong nhng nm gn y, cc c s gia cng c kh ti
cc nh my, x nghip, trung tm sn xut vn cn s dng nhiu my cng c
truyn thng. Cc my ny thng ch c 3 chuyn ng phi hp, v vy khng th
gia cng cc sn phm c bin dng phc tp thay i trong khng gian 3 chiu
nh khun mu c dng tr trn, bin dng cam iu khin, khun mu t, dp,
khun p nha dng cho sn xut cc vt dng hng ngy gii quyt tnh
trng ny, cc nh my phi la chn 1 trong 2 phng n: mua my CNC hin i
thay th, tuy hi t tin. Phng n th hai l ci to cc my cng c truyn
thng. T y, phng php ng dng Robot song song loi Hexapod c a ra
nghin cu, ch to.
p ng nhu cu ca thc t ny, nhim v ra trong ti lun vn mang
tn M hnh ho v m phng Robot song song loi Hexapod ca em l i su
-7
chi tit, nghin cu v phn tch c cu ng hc song song vi 6 bc t do. Trn

c s xy dng m hnh Simmechanics v kho st hot ng ca Robot. Bc
u i vo xy dng s Simulink phc v iu khin hot ng ca Robot theo
mt qu o cho trc.
c s hng dn ca PGS. TSKH. Nguyn Phng Quang, em tin hnh
nghin cu v vit bn thuyt minh lun vn vi 3 chng:
Chng 1: Nghin cu tng quan v Robot.
Chng 2: M hnh ho Robot song song lo i Hexapod bng b cng c
SimMechanics.
Chng 3: Kho st hot ng ca Robot song song lo i Hexapod.
Hon thnh bn lun vn ny em xin chn thnh cm n s hng dn, ch
bo ca thy gio PGS. TSKH. Nguyn Phng Quang.
Mc d rt c gng song bn lun vn ca em chc chn khng trnh khi
sai st. Knh mong nhn c s ch bo ca cc thy c gio v gp ca cc bn.
Thi Nguyn ngy 01 thng 06 nm 2008
Hc vin
Trn Th Thanh Hi
-8
CHNG I
NGHIN CU TNG QUAN

V ROBOT
-9
1.1 GII THIU CHUNG V ROBOT

1.1.1 KHI NIM V ROBOT
Cc nh khoa hc a ra nhiu cch nh ngha khc nhau v Robot nh:
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) hay 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; rng hn na M.P.Groover a ra nh
ngha v robot khng dng li tay my m m rng cho nhiu i tng khc c
nhng c tnh tng t con ngi nh 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, l 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 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.
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
- 10
vi t ng ho linh hot, m i din ca chng l nhng robot c iu khin

bng chng trnh, thay i c nhim v thao tc t ra mt cch nhanh chng.
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.
1.1.2. PHN LOI ROBOT

Trong cng nghip ngi ta s dng nhng c im khc nhau c bn nht
ca robot gip cho vic nhn xt c d dng. Robot thng c phn loi
theo cc yu t nh: theo dng hnh hc ca khng gian hot ng, theo th h
robot, theo b iu khin, theo ngun dn ng hoc theo kt cu.
1.1.2.1. Phn loi theo dng hnh hc ca khng gian hot ng

dch chuyn khu tc ng cui cng ca robot n v tr ca i tng
thao tc c cho trc trong khng gi an lm vic cn phi c ba bc chuyn ng
chuyn di hay chuyn ng nh v (thng dng khp tnh tin v khp quay loi
5). Nhng robot cng nghip thc t thng khng s dng qu bn bc chuyn
ng chuyn di (khng k chuyn ng kp ca tay gp) v thng thng vi ba
bc chuyn ng nh v l , rt t khi s dng n bn bc chuyn ng nh v.
Robot c phn loi theo s phi hp gia ba trc chuyn ng c bn ri
sau c b sung m rng thm bc chuyn ng nhm tng thm linh
hot. Vng gii hn tm hot ng ca robot c gi l khng gian lm vic.
* Robot to vung gc (cartesian robot):
Robot loi ny c ba bc chuyn ng c bn gm ba chuyn ng tnh tin
dc theo ba trc vung gc
- 11
Hnh 1.1 Nguyn l hot ng, khng gian lm vic v

s ng hc ca robot to vung gc.
* Robot to tr (cylindrical robot):
Ba bc chuyn ng c bn gm hai trc chuyn ng tnh tin v mt trc
quay (hnh 1.2)

s ng hc ca robot to tr.
* Robot to cu (spherical robot):
Ba bc chuyn ng c bn gm mt trc tnh tin v hai trc quay (hnh 1.3)
- 12

s ng hc ca robot to cu.
* Robot khp bn l (articular robot):
Ba bc chuyn ng c bn gm ba trc quay, bao gm c kiu robot
SCARA (hnh 1.4).

s ng hc ca robot lin kt bn l.
1.1.2.2 Phn loi theo th h

Theo qu trnh pht trin ca robot, ta c th chia ra theo cc mc sau y:
* Robot th h th nht
Bao gm cc dng robot hot ng lp li theo mt chu trnh khng thay i
(playback robots), theo chng trnh nh trc. Chng trnh y cng c hai
dng; chng trnh cng khng thay i c nh iu khin bng h thng cam
- 13
v iu khin vi chng trnh c th thay i theo yu cu cng ngh ca mi

trng s dng nh cc panel iu khin hoc my tnh.
c im:
S dng t hp cc c cu cam vi cng tc gii hn hnh trnh.
iu khin vng h.
C th s dng bng t hoc bng c l a chng trnh vo b iu
khin, tuy nhin loi ny khng thay i chng trnh c.
S dng ph bin trong cng vic gp - t (pick and place).
* Robot th h th hai
Trong trng hp ny robot c trang b cc b cm bin (sensors) cho
php cung c tn hiu phn hi h tr li h thng iu khin v trng thi, vt
khng gian ca robot cng nh nhng thng tin v mi trng bn ngoi nh trng
thi, v tr ca i tng thao tc, ca cc my cng ngh m robot phi hp, nhi t
ca mi trng, v.v... gip cho b iu khin c th la chn nhng thut ton
thch hp iu khin c th la chn nhng thut ton thch hp iu khin
robot thc hin nhng thao tc x l ph hp. Ni cch khc, y cng l robot vi
iu khin theo chng trnh nhng c th t iu chnh hot ng thch ng vi
nhng thay i ca mi trng thao tc. Dng robot vi trnh iu khin ny cn
c gi l robot c iu khin thch nghi cp thp.
Robot th h ny bao gm cc robot s dng cm bin trong iu khin
(sensor - controlled robots) cho php to c nhng vng iu khin kn kiu
servo.
c im:
iu khin vng kn cc chuyn ng ca tay my.
C th t ra quyt nh la chn chng trnh p ng da trn tn hiu
phn hi t cm bin nh cc chng trnh c ci t t trc.
Hot ng ca robot c th lp trnh c nh cc cng c nh bn phm,
pa-nen iu khin.
* Robot th h th ba
- 14
y l dng pht trin cao nht ca robot t cm nhn. Cc robot y c

trang b nhng thut ton x l cc phn x logic thch nghi theo nhng thng tin v
tc ng ca mi trng ln chng; nh robot t bit phi lm g hon thnh
c cng vic c t ra cho chng. Hin nay cng c nhiu cng b v
nhng thnh tu trong lnh vc iu khin ny trong cc phng th nghim v c
a ra th trng di dng nhng robot gii tr c hnh dng ca cc ng vt my.
Robot th h ny bao gm cc robot c trang b h thng thu nhn hnh
nh trong iu khin (Vision - controlled robots) cho php nhn thy v nhn dng
cc i tng thao tc.
c im:
C nhng c im nh loi trn v iu khin hot ng trn c s x l
thng tin thu nhn c t h thng thu nhn hnh nh (Vision systems - Camera).
C kh nng nhn dng mc thp nh phn bit cc i tng c hnh
dng v kch thc kh khc bit nhau.
* Robot th h th t
Bao gm cc robot s dng cc thut ton v c ch iu khin thch nghi
(adaptively controlled robot) c trang b bc u kh nng la chn cc p ng
tun theo mt m hnh tnh ton xc nh trc nhm to ra nhng ng x ph hp
vi iu kin ca mi trng thao tc.
c im:
C nhng c im tng t nh th h th hai v th ba, c kh nng t
ng la chn chng trnh hot ng v lp trnh li cho cc hot ng da trn
cc tn hiu thu nhn c t cm bin.
B iu khin phi c b nh tng i ln gii cc bi ton ti u vi
iu kin bin khng c xc nh trc. Kt qu ca bi ton s l mt tp hp
cc tn hiu iu khin cc p ng ca robot.
* Robot th h th nm
L tp hp nhng robot c trang b tr tu nhn to (artificially intelligent
robot).
- 15
c im:
Robot c trang b cc k thut ca tr tu nhn to nh nhn dng ting
ni, hnh nh, xc nh khong cch, cm nhn i tng qua tip xc, v.v... ra
quyt nh v gii quyt cc vn hoc nhim v t ra cho n.
Robot c trang b mng Neuron c kh nng t hc.
Robot c trang b cc thut ton dng Neuron Fuzzy/Fuzzy Logic t
suy ngh v ra quyt nh cho cc ng x tng thch vi nhng tn hiu nhn c
t mi trng theo nhng thut ton ti u mt hay nhiu mc tiu ng thi.
Hin nay trong lnh vcgii tr, nhiu dng robot th h ny ang c pht
trin nh robot Aibo - ch ch robot ca hng Sony hay robot i trn hai chn v
khiu v c ca hng Honda.
Nht Bn l t nc c s lng robot s dng trong cng nghip nhiu
nht th gii. Ngi Nht c quan nim kh khc bit v robot so vi cc nc
cng nghip pht trin. Theo Hip hi robot Nht - JIRA (Japanese Robot
Associasion), robot c chia thnh su loi, theo mc thng minh nh sau:
1- Robot hot ng nh ngi iu khin trc tip tng ng tc, bng
pendant hay pa-nen iu khin.
2- Robot hot ng theo chu trnh c nh (fixed sequence robots).
3- Robot hot ng theo chu trnh thay i c (variable sequence robots):
ngi iu khin c th d dng chnh sa trnh t hot ng.
4- Robot hot ng theo chng trnh v lp li chng trnh (playback
robots): ngi iu khin c th lp trnh cho robot trong ch hun luyn
(teaching mode).
5- Robot iu khin theo chng trnh s (numerically controlled robots).
6- Robot thng minh intelligent robots): robot c th hiu, nhn bit v
tng tc vi mi trng xung quanh.
1.1.2.3. Phn loi theo b iu khin

* Robot gp - t
- 16
Robot ny thng nh v s dng

ngun dn ng kh nn. B iu khin ph
bin l b iu khin lp trnh (PLC)
thc hin iu khin vng h. Robot hot
ng cn c vo cc tn hiu phn hi t cc
tip im gii hn hnh trnh c kh t trn
cc trc ca tay my.
Hnh 1.5 Mt dng robot gp t

* Robot ng dn lin tc
Robot loi ny s dng b iu khin servo thc
hin iu khin vng kn. H thng iu khin
lin tc l h thng trong robot c lp trnh
theo mt ng chnh xc. Trong h thng iu
khin ny, ng dn c biu in bng mt
lot cc im ri rc gn nhau v c lu vo
b nh robot, sau robot s thc hin li chnh
Hnh 1.6 Mt loi robot sn
xc ng dn .
thc hin ng dn lin tc
1.1.2.4 Phn loi robot theo ngun dn ng

* Robot dng ngun cp in
Ngun in cp cho robot thng l DC iu khin ng c DC. H thng
dng ngun AC cng c chuyn i sang DC. Cc ng c s dng thng l
ng c bc, ng c DC servo, ng c AC servo. Robot loi ny c thit k g n,
chy m, nh v rt chnh xc. Cc ng dng ph bin l robot sn, hn.
* Robot dng ngun kh nn
H thng cn c trang b my nn, bnh cha kh v ng c ko my nn.
Robot loi ny thng c s dng trong cc ng dng c ti trng nh c tay my
l cc xy-lanh kh nn thc hin chuyn ng thng v chuyn ng quay. Do kh
- 17
nn l lu cht nn c nn robot loi ny thng s dng trong cc thao tc gp

t khng cn chnh xc cao.
* Dng ngun thu lc
Ngun thu lc s dng lu cht khng nn c l du p. H thng cn
trang b bm to p lc du. Tay my l cc xy - lanh thu lc chuyn ng
thng v quay ng c du. robot loi ny c s dng trong cc ng dng c ti
trng ln.
1.1.2.5. Phn loi theo kt cu ng hc

* Robot ni tip
Trong mt cu trc ng hc ni tip thng thng th tt c cc trc chuyn
ng c b tr ni tip vi nhau. Mi khu ng l mt vt rn ch c lin kt
hay ni ng vi mt khu khc nh cc khp ng. Cc loi khp thng c s
dng l nhng khp ch cho php thc hin mt chuyn ng tng i gia hai
khi lin kt. V d, trc xoay u tin trc xoay th hai, trc xoay th hai li
trc chuyn ng thng. Mi trc tip theo s lm cho kt cu c thm mt bc t
do. V vy thng thng c cu c bao nhiu khu ng th s c by nhiu bc t
do. y l mt chui ng hc h vi mt khu c nh gi l v cc khu
ng.. Mi ng c s phi ti khi lng ca cc b phn v ng c pha sau.
Hnh 1.7 Cu trc ni tip
- 18
Bi vy vi yu cu ngy cng cao i vi tnh cht ng lc ca my s

sinh ra mt s hn ch: nu s dng ng c vi cng sut ln hn v kt hp
tng thm sc bn th khi lng cn iu khin chuyn ng s tng ln. iu ny
dn n phi tng cng sut ng c, m tng cng sut ng c li gn lin vi
vic tng khi lng, c tip tc nh vy.
* Robot song song
Robot loi ny c th xem nh mt chui ng hc kn, mi khu lun
lun c lin kt vi t nht hai khu khc.
Thc ra c cu ng hc song song khng c nhng cu kin song song vi
nhau theo ngha hnh hc. M trong cu trc ng hc song song tt c cc trc
chuyn ng s tc ng trc tip hoc gin tip ln bn cng tc cn chuyn ng.
thc hin mt chuyn ng theo mun th tt c cc ng c u phi hot
ng. Nh vy s xut hin chui ng hc c gi l ng hc kn- m
cng ca tng chui ring l c tc dng song song. Trong loi kt cu song song
thun tu th mi chui ch nhn c ng mt ng lc, cho nn s lng ca
chui khp ni ng bng bc t do ca cu trc. Ngi ta gi nhng cu trc m
trong mt chui khp ni c nhiu ng c l c cu ng hc song song kt hp
(hybrid).
So vi c cu ng hc ni tip
th c cu ng hc song song c mt
lot u im. Ni bt l khi lng cn
chuyn ng nh cng nh nhng tnh
cht ng hc u vit. Nu chn khp
ni thch hp th cc chi tit my ch yu
ch phi chu ti nn hoc ti ko. c
bit cn nhn mnh l nu so snh vi
Robot cng nghip th chng c chnh
Hnh 1.8 Cu trc song song
xc lp li cao hn.
- 19
Tt nhin y cng c nhc im, v d trng cng tc tng i nh so

vi khng gian cu to, gc quay b hn ch mt phn v b iu khin tn km do
phi chuyn i to . Mt nhc im na so vi my cng c chnh xc l
chnh xc nh v tuyt i cn qu thp. Trong vic pht trin v ti u ho cc chi
tit my thch hp nh khp Kardan, khp cu vn cn nhu cu phi hnh ng.
Cc thit b gia cng hin i ngy cng pht trin tr thnh h c in t,
gn kt c hc v in t vi nhau v c lm cho thng minh. Do kt cu
theo modul vi nhiu u o (sensor) v b phn hnh ng (actor) nn c cu ng
hc song song to ra c s gn nh l tng cho nhng thit b sn xut c in t.
Tu thuc vo kt qu khc phc nhng nhc im cn tn ti m c cu ng
hc song song s c c hi tr thnh phng tin sn xut hiu qu v khng th
khng ngh ti trong k thut cng ngh.
- 20
1.2 TNG QUAN V ROBOT SONG SONG LOI

HEXAPOD
1.2.1 VI NT CHUNG V ROBOT SONG SONG
Trong khi nhng cng trnh l thuyt v c cu ng hc song song c t
hng trm nm nay th nhng ng dng thc t mi ch bit n trong th k XX.
Cng khng r rng h ng hc song song m t hnh 1.2 c thc s l h u
tin v c ch to hay khng. Chc chn hi ngi pht minh ra n - James
Gwinnett - l mt ngi i tin phong.
Hnh 1.9 Thit b m phng chuyn ng do James Gwinnett

ng k sng ch nm 1931 ( US Patent 1789680 )
Kt cu ng hc song song khng gian u tin cho ng dng cng nghip
l Robot sn c 5 bc t do, c thit k bi L.W. Willard. ng tic l thit k
ny khng bao gi c thc hin. Nm 1934 Pollards Sohn, L.Willard v G.
Pollard ng k mt sng ch c c cu c biu din trn hnh 1.3 cng vi b
iu khin in; sng ch c cng nhn nm 1942. Vic thc hin k thut c ho
c ch ny b tht bi. Thc ra cng ty Devilis - sau ny l nh ch to Robot cng
nghip u tin - mua bn quyn nhng cui cng ch s dng b phn iu
khin.
- 21
Hnh 1.10 Robot sn vi kt cu ng hc song song do V. Willard;

V. Pollard ng k sng ch 1942 ( US Patent 2.2286571)
Sau vi nm mt c cu ng hc song song c pht trin, tr thnh

ni ting v c ch to hng nghn phin bn: l thit b kim tra lp da trn
nguyn l Hexapod (hi ni ting) ca ngi Anh Eric Gough, nhn vin lm
vic cho cng ty Rubber Co. Birmingham. Mc ch ca s pht trin l c th
kim tra c tnh cht ca lp my bay trong nhng iu kin ti ht sc khc
nhau.
Hnh 1.11 Mt bn cng tc Gough nguyn bn:

a) 1954
b) 2000
- 22
Nm 1965 D.Stewart m t trong tp ch Institution of mechmical

Engineers - IMECHE mt bn chuyn ng cho thit b m phng bay da trn c
s ca c cu song song. Tuy nhin thit b ny khng lin quan g n mt nguyn
l m ngy nay vn gi l bn cng tc Steward (Steward Plattform).
Hnh 1.12 Steward Gough platform
Cng thi gian , ngi M Klaus Cappel, mt nhn vin ca Franklan

Institue Research Labratories Philadelphia vi s khch l ca cng ty United
Technology pht trin mt thit b m phng bay cho my bay ln thng v ng
k sng ch nm 1964. Trn c s ny, hng chc nm tip theo nhiu hng pht
trin v ch to nhng thit b m phng bay.
Trong nhng nm 80 v 90 c cu chuyn ng song song c pht trin
ch yu cho thit b vn hnh v c s dng ngy cng nhiu trong cng nghip.
Khi xng u tin c s dng c cu ng hc song song trong my cng
c bt ngun t Lin X c vo cui nhng nm 70 (64, 65) vin k thut in
Novosibirsk. u nhng nm 90 xut hin nhiu phin bn mu. Vo cui nhng
- 23
nm 80 vic pht trin my cng c c kt cu ng hc song song cng c y

mnh M (81).
Hnh 1.13 Thit b m phng bay u tin c thng mi ho

do Klan Cappel pht trin vo gia nhng nm 60
Trong nhng nm tip theo do c s h tr kh mnh ca chng trnh

nghin cu quc gia v quc t nn lun lun c nhng phin bn mu mi c
pht trin, ch to v gii thiu trn cc hi ch, hi tho quc gia v quc t. Cho
ti nay trn th gii c mt s my gia cng v thit b vn hnh c xc nhn
l tt, gp phn to ra t ph trong thc t cng nghip.
Mt s ng dng ca Hexapod:
- 24
Hnh 1.14 Quan st giao thoa nh Hexapod
Hnh 1.15 Nguyn l Hexapod ng dng trong thit b m phng bay
- 25
Hnh 1.16 Nguyn l Hexapod ng dng trong y hc
1.2.2 ROBOT SONG SONG LOI HEXAPOD

Hexapod theo ngn ng Hy Lp c hiu l: hexa = 6, po dus = foot
hay cn c gi l Steward-Gough-Platform. Nhn chung cu trc Hexapod bao
gm: mt nn trn upper platform (mt bn g phi); cc khp (joints); 6 thanh dn
ng song song c th thay i chiu di v mt nn di (lower platform).
Hnh 1.17. S nguyn l Hexapod ti la chn
- 26
1.2.2.1 CU TRC HNH HC

Robot ny c su chn (hnh minh ha). Mi chn gm chn trn (upper leg)
v chn di (lower leg). Chn trn c gn vi mt bn g phi bi mt khp
xoay dng bi. Chn trn v chn di ni vi nhau nh khp trt. Thng qua su
khp trt ny, su ng c truyn ng cho robot. Chn di c dng hnh tr trn
rng trong khng gian vi mi u l mt khp xoay dng bi gn mt nn c
nh.
End Efector
Mt
T cu trc hnh hc ca Hexapod, ta c s khi cc khp ca Hexapod l:
Hnh 1.18 S khi cc khp ca Hexapod

Trong cc khp c mu m l khp ch ng (khp c truyn ng
trc tip bi ng c), S (Spherical) i din cho khp cu, P (Prismatic) i din
cho khp trt.
1.2.2.2 M T TON HC CA I TNG HEXAPOD

a, Bc t do
Xut pht t tng thit k i xng, vi s nguyn l (hnh 1.17) v s
khi cc khp (hnh 1.18) ca Hexapod, 6 thanh S-P-S cung cp cho chng ta
tng s bc t do l:
ni
f i =6*f C + 6*f P + 6*f C = 6*3 + 6 + 6*3 = 42
(1.1)
i=1
- 27
Trong :
ni l s khp.
Khp cu Spherical
Khp trt Prismatic
fC = 3 dof
fP = 1 dof
Hnh 1.19 M hnh khp cu v khp trt

S dng cng thc tnh bc t do ca Chebychev - Grubler - Kutzbach trong
Development of Reconfigurable Parallel Kinematic Machines using Modular
Design Approach cho mt c cu c kh:
ni
Dof =
(1.2)
f i + d (n - g -1)
i=1
M:
d = 6 nu c cu hot ng trong khng gian v bng 3 trong trng hp cn

li.
n - s thn (bodies) ca c cu. Vi tng thit k i xng, t s khi
cc khp hnh 1.18 thy ngay c gia cc khp tng ng s l cc chn Robot
c i din bng khi thn v mt nn di ng cha im End Effector cng
c biu din bng mt thn. Nh vy: n = 2*6 + 1 = 13 (bodies).
g - tng s khp (joints) ca c cu. T hnh 1.18 ta thy:
g = 3*6 = 18 (joints)
Vy s bc t do ca End Effector l:
ni
Dof =
f i + d (n - g -1) = 42 + 6(13 -18 -1) = 6
(1.3)
i=1
- 28
b, Phng trnh ng hc ngc

T s nguyn l (hnh 1.17), ta xy dng c m hnh Hexapod c dng
nh sau:
w
B6
B5
B1
b4
B4
v
B2
B3
li
p
A6
A5
a4
A1
x
A4
y
A2
A3
Hnh 1.20 M hnh Robot Hexapod trong khng gian
Gn h to A(x, y, z) ln v h to B(u, v, w) ln mt bn g phi.

Chuyn v ca mt bn g phi so vi c thay th bng chuyn v gia h to
B(u, v, w) so vi h to A(x, y, z) v c biu din bng vector chuyn v p
cng vi ma trn quay R. Trong u, v, w l cc vector n v trong h to B(u,
v, w) v:
u x vx wx
R
u y v y wy
(1.4)
u z vz wz
- 29
vi cc phn t ca ma trn R phi tho mn ng thi cc iu kin:
ux2 + uy2 + uz2 = 1

vx2 + vy2 + vz2 = 1
wx2 + wy2 + wz2 = 1
ux vx + uy vy + uz vz = 0
ux wx + uy wy + uz wz = 0
vx wx + vy wy + vz wz = 0
z
z
B1
B3
B2
B4
B5
B6
li
li
li
-x
-y
A5
A4
A1
A3
A2
A6
Hnh 1.21 Phn tch hnh hc cc chi tit ca Hexapod

K hiu ai = [aix, a iy, a iz ] v b i
biu ,biv ,biw l cc vector biu din v tr ca
tm khp xoay dng bi Ai, Bi (vi i = 1, 2, 3, 4, 5, 6) trong h to A(x, y, z) c

th vit phng trnh vector vng kn tng ng vi chn th i nh sau:
T y ta c:
l2i = l Ti .l i = p + R * bi - ai
li2 = pTp + bi
(1.5)
l i = p + R *bi - ai
(1.6)
. p + R * bi - ai
bi + aiTai + 2p T R *bi - 2p Tai - 2 R *b i
ai
(1.7)
- 30
Thay i = 1
6 ta thu c h 6 phng trnh biu din th ca mt bn g phi so
vi trong b i v ai l cc vector hng ph thuc vo kt cu ca tay my.

Vy chiu di ca cc chn c xc nh bi:
li = pTp + bi
bi + aiTai + 2pT R *bi - 2pTai - 2 R *bi
ai
(1.8)
y chnh l phng trnh ng hc ngc ca Hexapod.

Ly o hm ca li theo thi gian ta c tc . Nhng v chiu di ny ly t
khp cu di Ai n khp cu trn Bi nn tc chuyn ng ca li cng chnh l
tc ca khp cu trn Bi.
l Ti .v b
d
d T
li =
l i .l i =
= l Tn,i .v b
dt
dt
li
(1.9)
Mt khc, theo Model based control of a flight simulator motion system ta

li c tc chuyn ng:
v b = p + Rbi
(1.10)
Vi l tc gc ca mt nn di ng.
Thay vo biu thc 1.9 ta c vn tc ca c cu chp hnh thu c chnh
l biu thc tc ca mt nn di ng (mobil platform).
l = l T .v
i
n,i
b
l Tn,i (p + Rbi )
(1.11)
- 31
c, Thng s k thut ca Hexapod
Khp cu trn
Chn trn
Chn di
Khp cu di
Hnh 1.22 S nguyn l chi tit ca Hexapod
Trn c s s nguyn l cu trc Hexapod gm mt nn c nh ni vi

mt nn di ng thng qua 6 chn Hexapod, mi chn gm chn trn v chn di,
hai u c 2 khp xoay dng bi (hnh 1.22) vi thng s c th nh sau:
Chn trn ca robot c chiu di 1.0m, l ng rng tit din trn ng knh
7mm, c lm bi nhm c b dy lp nhm l 2 mm, khin chng kh nh, khi
lng l 51.812g. M men qun tnh cc chn trn quanh cc trc l 24.169 kgm2.
Chn di gm 6 thanh u l ng nhm rng tit din trn c ng knh
8mm, b dy lp nhm l 3mm. Chiu di cc thanh l 1m. Phn thn ng c khi
lng 92.111g, mmen qun tnh l 43.024 kgm2 ; mi khp cu c khi lng 10g,
khp trt l 20g do ton b khi lng ca chn l 183.923g.
Mt bn g phi lm bng nhm, hnh trn bn knh 0.25m nng 1216.9g.
- 32
CHNG 2
M HNH HO ROBOT
SONG SONG LOI HEXAPOD
BNG B CNG C
SIMMECHANICS
- 33
2.1 GII THIU CHUNG V B CNG C

SIMMECHANICS
2.1.1 SIMMECHANICS V NG DNG CA SIMMECHANICS
cc h thng c kh phc tp thng tn ti cc rng buc c kh hoc cc
khu dn ng trong h thng th vic s dng phng php Newton - Euler da
trn vic phn tch lc v mmen t ln cc phn t ca h thng hoc ph ng
php Euler - Lagrrange da trn cn bng nng lng trong h thng xy dng
h phng trnh ton hc m t h thng gp nhiu kh khn m b cng c
Simmechanics li tr li c vn ny. Simmechanics l phn mm m hnh ho
dng s khi cho thit k v m phng k thut cc phn chnh ca cc my c
kh ni ring hay cc h thng my mc ni chung v chuyn ng ca chng trn
c s ng lc hc Newton chun v lc v mmen.
B cng c Simmechanics gip m hnh ho v m phng cc h thng c
kh cng vi cc cng c khai bo tng khu vi c tnh khi lng, cc v tr
chuyn ng ca chng, cc rng buc ng hc, cc h trc to , xc lp cc
khi to chuyn ng vi iu kin ban u ca chng v o chuyn ng ca cc
khu. Thc cht, Simmechanics l mt phn ca m hnh ho cc vn vt l vi
Simulink, hon thin vic m hnh ho v thit k h thng trn c s nhng
nguyn tc c bn ca vt l. Simmechanics c th vin cung cp cc khi thay th
cc thnh phn c tnh cht vt l v cc yu t lin quan trc tip.
Simmechanics c 3 ng dng chnh: M hnh ho h thng c kh s dng
cc khi chun trong th vin ca Simmechanics. Kho st hot ng ca c cu c
kh bng 4 phng php phn tch m Simmechanics cung cp, bao gm ng
hc thun (Forward Dynamics), ng lc hc ngc (Inverse Dynamics), phn tch
chuyn ng hc (Kinematic analysis) tm lc v mmen, phn tch v tm trng
thi cn bng ca h thng (Trimming). M phng h thng c kh vi
Simmechanics.
- 34
2.1.2 M T CHUYN NG VI SIMMECHANICS

2.1.2.1 Chuyn ng v trng thi chuyn ng
Kinematics l mt s miu t chuyn ng ca my khi khng c ngoi lc
hay momen tc ng cng nh khng c thuc tnh ca i tng.
Bc t do ca i tng: Mi vt th vt l c 6 bc t do: 3 chuyn ng
tnh tin treo cc trc, 3 chuyn ng quay theo cc trc. SimMechanics thay th
bc t do bi khp ni gia hai thn . Trong SimMechanics, vt th (body) khng
c bc t do.
Trng thi chuyn ng: Trng thi chuyn ng ca h thng c kh l tp
hp cc gi tr tc thi ca v tr (i vi chuyn ng tnh tin), gc quay (i vi
chuyn ng quay) v vn tc ca chng.
2.1.2.2 Chuyn ng ca thn trong SimMechanics

Khng gian hot ng v cc h ta :
SimMechanics m phng chuyn ng ca c cu s dng tiu chun ng
lc hc ca Newton, l mt tp tt c cc trng thi, tr gia tc, trong khng gian
qun tnh. SimMechanics s dng mt khng gian qun tnh ch o gi l World.
Chng ta c th chn bt k mt im no nh mt gc ta v t vo cc
trc ta trc giao gi l h ta m rng.
S chuyn ng gia cc h ta :
Cho mt h ta c nh, v mt h to khc c tm O (gi tt l h ta
O). C l ta im O trong h ta c nh. Tp cc vector n v trc giao
{u(x), u(y), u(z)} nh ngha nn cc trc ta ca O. Tp ny c nh hng
trong h ta c nh, vi tp vector n v {e(x), e(y), e(z)}, l X,Y,Z. Chng ta
c th din t {u(x), u(y), u(z)} nh mt s t hp ca {e(x), e(y), e(z)}.
u(x) = Rxx e(x) + Ryx e(y) + Rzx e(z)
u(y) = Rxy e(x) + Ryy e(y) + Rzy e(z)
u(z) = Rxz e(x) + Ryz e(y) + Rzz e(z)
Ta thu c cc h s
- 35
ux(x) = Rxx , uy(x) = Ryx , uz(x) = Rzx

ux(y) = Rxy , uy(y) = Ryy , uz(y) = Rzy
ux(z) = Rxz , uy(z) = Ryz , uz(z) = Rzz
S ph thuc vo thi gian ca cc h s trong R thay cho s nh hng ca
u so vi e. Cc phn t ca vector v c o trong h ta World c thay bi
vector ct, vWorld. Trong h ta O, chng c thay bi vector ct vO. Mi quan
h gia hai ta l vWorld
RWO *v O . Vi R c cc ct l thnh phn ca u trong h
ta World.
R
Rxx Rxy Rxz

Ryx Ryy Ryz ;
Rzx Rzy Rzz
Do s trc giao v chiu di n v ca u m bo rng R l mt ma trn

quay trc giao tha mn RRT =RT R=I, vy ta c R-1=RT .
o Quan st chuyn ng ca thn t mt h ta khc:
Hnh 2.1 H ta ton th v h ta tng i

Cho hai h ta quan st: World v O nh trn, v 1 im p chuyn ng
bt k. Ta ca p trong h ta World l vector ct pWorld v trong h ta
O l pO, mi quan h gia hai h ta l:
pWorld =C World (t) +R*p O
o Mi quan h gia vn tc gia hai h quan st:
- 36
Vi phn bc nht theo thi gian cng thc trn, chng ta c mi quan h
vn tc
dpWorld
dt
dCWorld
dt
dpO
dt
dR
pO
dt
o Thay th chuyn ng tnh tin v chuyn ng quay ca thn:

Xt chuyn ng ca im p, c nh trn thn, O l h ta gn vi thn
v c gc O t ti im trng tm. Do chng c nh trn thn do , ta c:
dpO / dt
0 , do cng thc tnh vn tc trn c vit li:
dpWorld
dt
dR T
R
dt
Bi rng RRT =I,
dCWorld
dt
dRT
dt
0 do chng ta thm RRT bn tri ca
pBody v nh ngha ma trn phn i xng

0
dR T
R
dt
dRT
;
dt
dR
pO
dt
V l vn tc gc ca thn trong h ta World.
dpWorld
dt
dCWorld
dt
* R * pBody
dCWorld
dt
World
( R * pBody ) ;
Mi quan h gia vi phn ca vector V c o trong World v o trn thn

ni chung:
dV
dt
World
dV
dt
World
V;
Body
2.1.2.3 SimMechanics thay th s nh hng ca thn

Trong SimMechanics, chng ta thay s nh hng ca thn bng cch ch ra
hng ca cc trc ta t ti tm so vi cc trc chn trc.S quay ni
chung trong khng gian 3 chiu, c 3 bc t do. C nhiu phng php din t
chng, SimMechanics s dng phng php: o chuyn ng ca thn bng sensor
v khi RotationMatrix2VR.
Dng Trc v gc thay th:
- 37
Dng trc v gc ca php quay l dng trnh by c bn nht: Ch ra trc n, sau

quay theo quy tc bn tay phi quanh trc 1 gc . Vector n=(nx,ny,nz) l 3
thnh phn hp thnh vector n v vi n*n=1.
Dng trc quay thng c vit nh l vector 4 phn t: [nx,ny,nz,]. Trong 4
nx2 ny2 nz2 1 .
phn t ,3 thnh phnc lp, v n * n

Dng b 4:
Quaternion thay th php quay cu nh l 4 phn t ca vector ct c di

n v:
nx *sin
/2
ny *sin
/2
nz *sin
/2
cos
/2
qv
qs
Vi q * q qv * qv qs2 1. nh ngha ny thay th cho nh ngha trn, quay quanh

trc ch ra bi 3 thnh phn u ca vector ct mt gc .
Dng ma trn quay:
T dng trc - gc quay, chng ta c th nh ngha ma trn quay R theo dng s
m nh sau: R exp
n* J
Ji
R
n*J vi Jk l ma trn s thc, phn i xng v tha mn:
nx J 1 ny J 2 nz J 3 . Vi J c dng phn i xng vi s i ch k t ijk :

ijk
ik
exp
. Dng s m ca R c gin thiu ti dng ng bng s nhn dng:

n* J
n * J sin
n* J
1 cos
vi I l ma trn n v v n*J
c nh ngha bi:
n* J
nz
nz
ny
0
nx
ny
nx ;
0
Dng Euler.
Mt cch khc biu din ma trn quay R, quay quanh 3 trc c lp, bng
3 gc Euler c lp. Ma trn quay ca h ta thn c to nn bi php nhn
ma trn theo th t t phi qua. R=R1*R2*R3 v ma trn quay bt u trong World
c to nn nh php nhn ma trn theo trt t t tri qua: R=R3*R2*R1. S quy
c ngm ca 3 gc quay Euler:
- 38
+) L quay quanh 1 trc l trc ta thn,

+) Quay ln 2 quanh trucjtoaj thn (quay t chnh im gc ca n).
+) Sau cng quay quanh trc ta u tin mt ln na (trc c tn m va quay
ca ln 1 vi h ta mi sau khi quay ln 2).
Trc quay thng s dng l Z-X-Z (hoc Z-Y-Z) vi gc quay l 1, 2, 3. Ma
trn quay l: R RZ
* RX
* RZ
vi cc ma trn quay R quanh mt trc
no c nh ngha:
1
RX
RZ
0 cos
0 sin
cos
sin
0
0
sin
cos
sin
cos
0
0
0
1
RY
cos
0
sin
0 sin
1
0
0 cos
2.1.3 TH VIN CC KHI CHUN CA SIMMECHANICS

Mi trng lp trnh SimMechanis c cu trc t cc khi chun t chc
theo dng phn cp. Mi cp bao gm cc khi c chc nng lin quan gn nhau.
C th th vin chnh trong SimMechanics bao gm: cc khi thn (Bodies), cho
php m hnh ho mt thn bt k thng qua c tnh v khi lng v mmen
qun tnh ca n quanh cc trc v cc h to gn vi n; th vin cc khi
Sensor v Actuator cho php o v cp tn hiu ti h thng; cc khi Constraint v
Driver cho php truyn ng v hn ch gia cc khu; cung cp cc loi khp
Joints v mt s ng dng khc.
- 39
Hnh 2.2 Th vin cc khi chun ca SimMechanics
2.1.3.1 Th vin cc khi Bodies

Th vin ny cung cp cc khu c kh (Body). Tham s khai bo cho khu
c kh bao gm khi lng / Mmen qun tnh, v tr, hng v cc h trc to
gn trn n. Ngoi ra, c khi im gc (Ground) biu din mt im c nh v
khi mi trng my (Machine environment) biu din v tr ca h thng trong
khng gian 3 chiu.
Body: Thay th cho cc thn trong mt c cu c kh, chng khng c bc t do
ring, c nh dng bi cc thng s v khi lng, momen qun tnh theo cc
trc so vi tm (ma trn 3 3), v cc h ta gn vi chng.
- 40
Machine Enviroment: Trong mi

mt m hnh, mt khi Ground
c ni vi khi ny p t
hot ng ca h thng vo trong
mi trng c kh.
Ground:
Trong SimMechanics,
Ground thay cho thn c khi

Hnh 2.3 Th vin cc khi Bodies
lng v kch thc rt ln, hot

ng trn va nh h ta tng
th v tr ngh ca my, va nh gi c nh cho php gn cc phn ca my.

Chng cho php bn ch ra bc t do ca h thng vi vng ph cn xung quanh.
Chng c nh dng vi Ground point v trong mi m hnh, c t nht mt khi
ground,v c mt v ch mt Ground c ni vi khi Machine Enviroment.
2.1.3.2 Th vin cc khi hn ch v truyn ng

Th vin ny cung cp cc khi biu din cc rng buc v chuyn ng c
lp (s bc t do) gia cc khu c kh. Cc rng buc ny c th hoc khng ph
thuc thi gian.
Hnh 2.4 Th vin cc khi hn ch v truyn ng
- 41
2.1.3.3 Th vin cc phn t lc

Th vin ny cung cp cc khi to lc v mmen gia cc khu c kh.
Phn t lc m hnh ho ni lc gia hai thn hay hot ng ca khp ni gia hai
thn. Ni lc ch ph thuc vo v tr v vn tc ca chnh cc thn, khng ph
thuc v tn hiu bn ngoi.
Hnh 2.5 Th vin cc phn t lc
2.1.3.4 Th vin cc khp

Th vin ny cung cp cc khi khp ni to chuyn ng tng i ca cc
kt cu c kh. Khp thay th cho bc t do ca thn ny i vi thn kia, N khng
ging vi khp vt l, a s chng khng c khi lng. SimMechanics cung cp
mt lng phong ph th vin cc khp nhng c gi trong 3 loi chnh:
Joints: Cc khp thng thng, l hoc c cu thnh t hai loi khp c bn l
khp tnh tin (Prismatic) v khp quay (Revolute / Spherical).
Disassembled Joints (khp ri)
Massless Connector (khp khng trng lng)
Mi khp trong SimMechanics c nh dng v trc hot ng (axis of
action) ca chuyn ng c bn (Primitive) trong h ta ton th (World) hay
trn thn ngun (Base) hay thn chuyn ng theo (Follow).
- 42
Hnh 2.6 Th vin cc khp
2.1.3.5 Th vin c cu chp hnh v thit b o

Th vin ny cung
cp cc c cu chp
hnh, cm bin dng
khi to v o chuyn
ng gia cc khp ni
v khu c kh.
Th vin Actuator
v
sensor
ca
SimMechanics cho php

chng ta o:
+ Chuyn ng ca thn.
+ Chuyn ng khp v
cc
lc, momen trn
Hnh 2.7 Th vin c cu chp hnh v thit b o
khp.
+ Phn lc v momen.
- 43
Chng ta s dng khi Actuator thc hin cc tc v sau:

Cung cp lc/momen bin i theo thi gian tc ng vo thn hoc khp.
Ch ra v tr, vn tc hay gia tc ca joint/driver nh l mt hm ca thi gian.
Ch ra v tr ban u, vn tc ca khp trn trc c bn.
Ch ra khi lng hay mmomen qun tnh nh mt hm ca thi gian.
2.1.3.6 Cc ng dng khc

Th vin ny cung cp cc khi ph tr thng s dng trong vic xy dng
m hnh.
Hnh 2.8 Cc ng dng khc
- 44
2.2 M HNH HO ROBOT SONG SONG LOI

HEXAPOD
2.2.1 XY DNG M HNH KHI SIMMECHANICS
T s nguyn l ti la chn:
Hnh 2.9 Nguyn l Hexxapod
u tin m hnh ca Robot c xy dng s dng b cng c

Simmechanics. Cc thnh phn c kh ca c cu bao gm: mt bn g phi
(mobile platform ), mt nn c nh (Ground) v 6 chn ni gia mt bn g phi
vi mt nn c nh (Ground). Mi chn cha ng hai khi thn (Body) c ni
vi nhau bi khp trt P hnh tr. Thn trn c ni vi mt nn di ng (mt
bn g phi) nh khp cu S v thn di c ni vi mt nn c nh nh khp
cu th hai. Ngoi ra cn c khi mi trng my (Machine Environment) gip to
mi trng hot ng cho c cu, phc v vic m phng sau ny. Cc khi
Ground, Machine Environment v Body d dng ly ra t th vin ca
Simmechanics.
- 45
M hnh tng th ca Hexapod trong Simmechanics:
Hnh 2.10 M hnh Hexapod trong Simmechanics
By gi ta i xy dng m hnh c th ca tng h thng con (chn):
- 46
2.2.2 XY DNG CU TRC TNG CHN

2.2.2.1. Cu trc chn th nht:
Xut pht t s nguyn l m ti la chn (hnh 2.8). Xt cu trc ca
chn th nht c dng:
upper platform
B1
upper joint
upper leg
Prismatic joint
lower leg
lower joint
Base
lower platform
Hnh 2.11 Cu trc chn Leg1

T y ta xy dng c s cu trc SimMechanics ca chn th nht,
vi 2 khi Body i din cho Upper leg v Lower leg, 2 khi khp cu Upper
Spherical v Lower Spherical i din cho 2 khp xoay dng bi upper joint v lower
joint , 1 khp trt Prismatic ni kt gia Upper leg v Lower leg thay i
di ca chn, ly t th vin ca SimMechanics. Kt ni chng vi nhau theo ng
trt t hnh hc, cng vi Base l cng vo t khi t (Ground), B1 l cng ra ni
ti mt nn di ng.
- 47
Hnh 2.12 S cu trc chn th nht (Leg1)
2.2.2.2. Cu trc cc chn cn l i

Tng t chn th nht, cu trc chn th hai, th ba, th t, th nm, th
su c B2, B3, B4, B5, B6 l cng ra ni ti mt nn di ng.
- 48
Hnh 2.13 S cu trc chn th hai (Leg2)
Hnh 2.14 S cu trc chn th ba (Leg3)
Hnh 2.15 S cu trc chn th t (Leg4 )
- 49
Hnh 2.16 S cu trc chn th nm (Leg5)
Hnh 2.17 S cu trc chn th su (Leg6)
- 50
2.2.3 NH DNG CC KHI

m hnh ho Hexapod, ta cn bit cc thng tin v khi lng v m men
qun tnh ca upper leg, lower leg, mobil platform. Mt khc ta cng cn bit to
ca cc khi thn i din cho upper leg, lower leg, cc khp ni trong khng gian
lm vic nhm hon chnh m hnh to c s cho vic nghin cu hot ng ca
Robot phn sau.
2.2.3.1. Tnh ton cc thng s c trng cn thit ca tng khi.

* Phn tch hnh hc Hexapod trng thi tnh:
Xt Robot trng thi ban u khi cha hot ng. Vi gi thit cc chn t
chiu di trung bnh 1,5m. Chiu di chn di L1 = d(P,LS) = 1.0m v chiu di
chn trn L2 = d(US,P) = 0.5m. Bn knh mt nn c nh l r1 = 1m v mt nn di
ng l r2 = 0,25m.
z
US4 US3
Leg 3
r2
US2
b1
US5
150
US1
US6
Leg 2
Leg 4
Leg 1
Leg 5
LS3
LS4
LS2
Leg 6
LS5
r1
a1
LS6
450
LS1
Hnh 2.18 M hnh Hexapod trong khng gian
- 51
Trong v tr tm cc khp cu nhn trn hnh chiu bng nh sau:
LS3
a3
LS2
a2
300
US3
LS4
US4
US5
US2
b5
LS5
b6
US6
US1
150
x
0
45
a1
300
LS1
LS6
Hnh 2.19 S v tr tm c c khp cu
Nhn trn s hnh 2.18 th trng thi tnh:
G(a1, a2 ) = 2*45 0 = 90 0
G(b5, b6) = 30 0
Tng t nh vy, nu a3, a4, a5 , a6 v b1, b2, b3, b4 ln lt l cc vector
tnh t gc to n tm cc khp cu LS3, LS4, LS5, LS6 v US1, US2, US3 , US4,
th ta cng c:
G(a1, a2 ) = G(a3, a4) = G(a5, a6) = 90 0
G(a2, a3 ) = G(a4, a5) = G(a6, a1) = 30 0
G(b5, b6) = G(b1, b2) = G(b3, b4) = 30 0
G(b2, b3) = G(b4, b5) = G(b6, b1) = 90 0
V:
G(a1, b1 ) = G(a2, b2) = G(a3, b3) = G(a4, b4) = G(a5, b5) = G(a6, b6) = 30 0
- 52
T s cu trc (hnh 2.17) v v tr cc khp (hnh 2.18) ta c th tnh

ton cc thng s c trng cn thit ca tng chn. Xt s chi tit ca mt chn
nh hnh v:
z
x
r2
US
Chn trn
CG U
z
P
zU
Chn di
zP
300
x
CG L
r2
rU
rP
zL
r1
rL
LS
Hnh 1.20 S cu trc chi tit ca mt chn

di on thng tnh t khp cu LS ti chn hnh chiu ca khp cu US
xung mt nn:
h = r12 + r22 - 2r1r2 .cos300
(2.1)
- 53
To cao (z) ca cc v tr trn cc chn:
z US = L2 - h 2
(2.2)
zU = z
L1 + 0.5L2
L
(2.3)
zP = z
L1
L
(2.4)
zL = z
0.5L1
L
(2.5)
Gc gia hnh chiu ca chn Robot vi bn knh r1:

r12 + h 2 - r22
= arccos
2r1h
(2.6)
Bn knh vng trn i qua trng tm ca Upper leg:
5
5
rU = ( h) 2 + r12 - 2* hr1 *cos
6
6
Bn knh vng trn i qua tm khp trt P:
2
4
rP = ( h) 2 + r12 - hr1cos
3
3
(2.7)
(2.8)
Bn knh vng trn i qua trng tm ca Lower leg:
1
2
rL = ( h) 2 + r12 - hr1cos
3
3
(2.9)
Gc lch gia cc bn knh rU , rP , rL so vi bn knh r2:

1
r22 + rU2 - ( h)2
6
U = arccos
2r2 rU
(2.10)
1
r22 + rP2 - ( h) 2
3
P = arccos
2r2 rP
(2.11)
2
r22 + rL2 - ( h) 2
3
L = arccos
2r2 rL
(2.12)
- 54
Thay cc thng s c th vo cc biu thc (2.1) n (2.12) ta s tm ra cc

thng s c trng ca 6 chn Hexapod.
* Tnh ton cc thng s c trng c th chn leg 1:
Theo s v tr tm cc khp cu (hnh 2.18) th:
G(a1, a2) = 90 0 hay G(a1, Ox) = L S1 = 90 0/2 = 45 0
(2.13)
G(b1, b2) = 30 0 hay G(b1, Ox) = US1 = 30 0/2 = 15 0
(2.14)
di on thng tnh t khp cu LS ti chn hnh chiu ca khp cu US

xung mt nn:
h = r12 + r22 - 2r1r2 .cos300 = 1+ 0.252 - 2*0.25*cos300 = 0.7934
(2.15)
V cc thng s khc:
z U1 = z
L1 + 0.5L2 1.25
=
*1.273 = 1.0608
L
1.5
(2.16)
z P1 = z
L1
1
=
1.273 = 0.8487
L 1.5
(2.17)
z L1 = z
0.5L1 0.5
=
*1.273 = 0.4243
L
1.5
1 = arccos
(2.18)
r12 + h 2 - r22
1+ 0.79342 - 0.252
= arccos
= 9.0645
2r1h
2*0.7934
(2.19)
5
5
rU1 = ( h) 2 + r12 - 2* hr1 *cos1
6
6
5
5
= ( 0.7934) 2 +1- 2* 0.7934*0.9875 = 0.3624
6
6
(2.20)
2
4
rP1 = ( h) 2 + r12 - hr1cos1
3
3
2
4
= ( 0.7934) 2 +1- 0.7934*0.9875 = 0.4849
3
3
(2.21)
- 55
1
2
1
2
rL1 = ( h) 2 + r12 - h.r1cos1 = ( 0.7934) 2 +1- 0.7934*0.9875 = 0.74
3
3
3
3
(2.22)
1
1
2
r22 + rU1
- ( h) 2
0.252 + 0.36242 - ( 0.7934) 2
6
6
U1 = arccos
= arccos
= 13.2947
2r2 rU1
2*0.25*0.3624
(2.23)
1
1
r22 + rP12 - ( h)2
0.252 + 0.48492 - ( 0.7934)2
3
3
P1 = arccos
= arccos
= 20.099
2r2 rP1
2*0.25*0.4849
(2.24)
2
2
2
r22 + rL1
- ( h) 2
0.252 + 0.742 - ( 0.7934) 2
3
3
L1 = arccos
= arccos
= 26.7728
2r2 rL1
2*0.25*0.74
(2.25)
To x ca cc v tr trn chn Leg 1:
x US1 = r2 *cosU1 = r2 *cos150 = 0.25*0.9659 = 0.2415
(2.26)
x U1 = rU1 *cos U1 = 0.3624*cos28.2947 = 0.3191
(2.27)
x P1 = rP1 *cos P1 = 0.4849*cos35.099 = 0.3967
(2.28)
x L1 = rL1 *cos L1 = 0.74*cos41.7728 = 0.5519
(2.29)
x LS1 = r1 *cosLS1 = 1*cos450 = 0.7071
(2.30)
To y ca cc v tr trn chn Leg 1:

yUS1 = -r2 *sinUS1
-r2 *sin150 = -0.25*0.2588 = -0.0647
(2.31)
y U1 = -rU1 *sin U1 = -0.3624*sin28.2947 = -0.1718
(2.32)
y P1 = -rP1 *sin P1 = -0.4849*sin35.099 = -0.2788
(2.33)
y L1 = -rL1 *sin L1 = -0.74*sin41.7728 = -0.493
(2.34)
y LS1 = -r1 *sin LS1 = -1*sin45 = -0.7071
(2.35)
Tng t nh vy ta cng tnh c to cc chi tit ca cc chn cn li:
- 56
* Cc h to t trn Hexapod:
- Chn th nht Leg1:
Chn trn Upper leg 1:
CS3
CS2
CS1
Trong , CS l Coordinate system, hay l h to .

World l h to ton th, gn vi t kho st i tng.
Bng 2.1
To im gc
Tn
n v
So vi h no
CS1
(0.2415 -0.0647 1.273)
World
CS2
(0.3191 -0.1718 1.0608)
World
CS3
(0.3967 -0.2788 0.8487)
World
Chn di Lower leg 1:
CS3
CS2
CS1
Bng 2.2
To im gc
Tn
n v
So vi h no
CS1
(0.3967 -0.2788 0.8487)
World
CS2
(0.5519 -0.493 0.4243)
World
CS3
(0.7071 -0.7071 0)
World
- Chn th hai Leg 2:

Upper leg 2:
Tn
Bng 2.3
To im gc
n v
So vi h no
CS1
(0.2415 0.0647 1.273)
World
CS2
(0.3191 0.1718 1.0608)
World
CS3
(0.3967 0.2788 0.8487)
World
- 57
Lower leg 2:
Bng 2.4
To im gc
Tn
n v
So vi h no
CS1
(0.3967 0.2788 0.8487)
World
CS2
(0.5519 0.493 0.4243)
World
CS3
(0.7071 0.7071 0)
World
- Chn th ba Leg 3:
Upper leg 3:
Bng 2.5
To im gc
Tn
n v
So vi h no
CS1
(-0.0647 0.2415 1.273)
World
CS2
(-0.0108 0.3623 1.0608)
World
CS3
(0.0431 0.483 0.8487)
World
Lower leg 3:
Bng 2.6
To im gc
Tn
n v
So vi h no
CS1
(0.0431 0.483 0.8487)
World
CS2
(0.151 0.7245 0.4243)
World
CS3
(0.2588 0.9659 0)
World
- Chn th t Leg 4:
Upper leg 4:
Bng 2.7
To im gc
Tn
n v
So vi h no
CS1
(-0.1768 0.1768 1.273)
World
CS2
(-0.3083 0.1905 1.0608)
World
CS3
(-0.4398 0.2042 0.8487)
World
Lower leg 4:
Tn
CS1
Bng 2.8
To im gc
(-0.4398 0.2042 0.8487)
n v
So vi h no
World
- 58
CS2
(-0.7029 0.2315 0.4243)
World
CS3
(-0.9659 0.2588 0)
World
- Chn th nm Leg 5:
Upper leg 5:
Bng 2.9
To im gc
Tn
n v
So vi h no
CS1
(-0.1768 -0.1768 1.273)
World
CS2
(-0.3083 -0.1905 1.0608)
World
CS3
(-0.4398 -0.2042 0.8487)
World
Lower leg 5:
Bng 2.10
To im gc
Tn
n v
So vi h no
CS1
(-0.4398 -0.2042 0.8487)
World
CS2
(-0.7029 -0.2315 0.4243)
World
CS3
(-0.9659 -0.2588 0)
World
- Chn th su Leg 6:
Upper leg 6:
Bng 2.11
To im gc
Tn
n v
So vi h no
CS1
(-0.0647 -0.2415 1.273)
World
CS2
(-0.0108 -0.3623 1.0608)
World
CS3
(0.0431 -0.483 0.8487)
World
Lower leg 6:
Tn
Bng 2.12
To im gc
n v
So vi h no
CS1
(0.0431 -0.483 0.8487)
World
CS2
(0.151 -0.7245 0.4243)
World
CS3
(0.2588 -0.9659 0)
World
- 59
* Vit M-file:
T cc thng s tnh ton trn ta c th xy dng M-file d liu m hnh
ho cho Hexapod
% Khoi luong va momen quan tinh cac than
UL_mass=51.812;% Khoi luong chan tren Upper leg
LL_mass=92.111;% Khoi luong chan duoi Lower leg
UL_Inertia=[24.169 0 0;0 24.169 0;0 0 24.169];
% Momen quan tinh cua Upper leg
LL_Inertia=[43.024 0 0;0 43.024 0;0 0 43.024];
% Momen quan tinh cua Lower leg
TP_mass=1216.9;% Khoi luong cua mat ban ga phoi
TP_Inertia=[34.49 0 0;0 34.49 0;0 0 34.49];
% Momen quan tinh cua mat ban ga phoi
% Cac toa do
B1=[0.2415 -0.0647 1.273];% Toa do dau tren cua Upper leg 1
B2=[0.2415 0.0647 1.273];% Toa do dau tren cua Upper leg 2
B3=[-0.0647 0.2415 1.273];% Toa do dau tren cua Upper leg 3
B4=[-0.1768 0.1768 1.273];% Toa do dau tren cua Upper leg 4
B5=[-0.1768 -0.1768 1.273];% Toa do dau tren cua Upper leg 5
B6=[-0.0647 -0.2415 1.273];% Toa do dau tren cua Upper leg 6
Pos_leg=[B1;B2;B3;B4;B5;B6];% Ma tran toa do dau tren cua cac chan
% Toa do cac chi tiet tren cac chan
% Chan thu nhat
UL1_CG=[0.3191 -0.1718 1.0608];% Toa do diem trong tam Upper leg 1
% CG (Center of Gravity)- diem trong tam
LL1_CS1=[0.3967 -0.2788 0.8487];% Toa do dau duoi cua Upper leg 1
% Toa do dau tren cua Lower leg 1
LL1_CG=[0.5519 -0.493 0.4243];% Toa do trong tam cua Lower leg 1
LL1_CS3=[0.7071 -0.7071 0];% Toa do dau duoi cua Lower leg 1
% Chan thu hai
UL2_CG=[0.3191 0.1718 1.0608];% Toa do diem trong tam Upper leg 2
LL2_CS1=[0.3967 0.2788 0.8487];% Toa do dau duoi cua Upper leg 2
- 60
LL2_CG=[0.5519 0.493 0.4243];% Toa do trong tam cua Lower leg 2

LL2_CS3=[0.7071 0.7071 0];% Toa do dau duoi cua Lower leg 2
% Chan thu ba
UL3_CG=[-0.0108 0.3623 1.0608];% Toa do diem trong tam Upper leg 3
LL3_CS1=[0.0431 0.483 0.8487];% Toa do dau duoi cua Upper leg 3
LL3_CG=[0.151 0.7245 0.4243];% Toa do trong tam cua Lower leg 3
LL3_CS3=[0.2588 0.9659 0];% Toa do dau duoi cua Lower leg 3
% Chan thu tu
UL4_CG=[-0.3083 0.1905 1.0608];% Toa do diem trong tam Upper leg 4
LL4_CS1=[-0.4398 0.2042 0.8487];% Toa do dau duoi cua Upper leg 4
LL4_CG=[-0.7029 0.2315 0.4243];% Toa do trong tam cua Lower leg 4
LL4_CS3=[-0.9659 0.2588 0];% Toa do dau duoi cua Lower leg 4
% Chan thu nam
UL5_CG=[-0.3083 -0.1905 1.0608];% Toa do diem trong tam Upper leg5
LL5_CS1=[-0.4398 -0.2042 0.8487];% Toa do dau duoi cua Upper leg 5
LL5_CG=[-0.7029 -0.2315 0.4243];% Toa do trong tam cua Lower leg 5
LL5_CS3=[-0.9659 -0.2588 0];% Toa do dau duoi cua Lower leg 5
% Chan thu sau
UL6_CG=[-0.0108 -0.3623 1.0608];% Toa do diem trong tam Upper leg6
LL6_CS1=[0.0431 -0.483 0.8487];% Toa do dau duoi cua Upper leg 6
LL6_CG=[0.151 -0.7245 0.4243];% Toa do trong tam cua Lower leg 6
LL6_CS3=[0.2588 -0.9659 0];% Toa do dau duoi cua Lower leg 6
% Toa do diem tac dong cuoi End Effector
EE_CG=[0 0 1.273];% Toa do cua End Effector khi Robot o trang thai
ban dau
- 61
2.2.3.2. nh dng cc khi ca s Hexapod trong SimMechanics.

* nh dng cc khi ca chn Leg1:
T s cu trc ca Leg1 v cc to xy dng trn, ta tin hnh
nh dng cc tham s c th ca s nh sau:
+ nh dng khi khp ni
Hexapod ny nh xy dng trn c hai loi khp l khp cu
(Spherical) v khp trt (Prismatic).
nh dng khp cu Upper Spherical.
Hnh 2.21 Bng tham s khp cu trn Upper leg

tham s kt ni (Connection parameters) th hin khp cu Upper
Spherical mt u c ni vi khi thn @hexapod/Body i din cho mt bn g
phi v u cn li c ni vi khi thn @Upper leg i din cho chn trn.
s lng sensor / cm bin (Number of sensor / Actuator ports) do khng c ni
vi khi no nn chn l 0.
nh dng khp cu Lower Spherical:
- 62
Tng t nh khp cu Upper Spherical nhng Lower Spherical c hai u

trong mt u c ni vi
@Lower leg v mt u ni
vi
@hexapod/Ground1.
Hnh 2.22 Bng tham s khp cu di Lower leg

nh dng khp trt Prismatic.
Hnh 2.23 Bng tham s khp trt Prismatic
- 63
tham s kt ni (Connection parameters) th hin khp trt Prismatic

mt u c ni vi khi thn @Lower leg i din cho chn di v u cn li
c ni vi khi thn @Upper leg i din cho chn trn. s lng sensor /
cm bin (Number of sensor / Actuator ports) do cha c ni vi khi no nn
chn l 0.
+ nh dng khi thn
nh dng khi Upper leg:
Hnh 2.24 Bng tham s khi Upper leg

Trong Mass l gi tr khi lng, Inertia l mmen qun tnh ca th n,
Position l v tr gc cc h to gn vi thn so vi h to ton th
(World), n v l mt. La chn Show port cho php kt ni vi cc khi khc
ti im gc to , phn nh hng (Orientation) gip nh hng cc trc to
trong khng gian ( y chn mc nh l song song vi cc trc trong h to
ton th).
- 64
Hnh 2.25 Bng tham s khi Upper leg modul

Orientation
nh dng khi thn Lower leg:
Hnh 2.26 Bng tham s khi Lower leg
- 65
+ nh dng khi t Ground:
Hnh 2.27 Bng tham s khi Ground

Khi t th hin to ca im ni t so vi to ton th (0.7071 -0.7071 0).
Chn Show Machine Environment port thc hin ni kt gia Ground v khi
Machine Environment. iu ny ch thc hin ring vi Ground1.
Tng t nh vi chn Leg1 cc chn cn li Leg2, Leg3, Leg4, Leg5, Leg6
cng c cu thnh t 6 khi (Upper Spherical, Upper Leg, Pristical, Lower Leg,
Lower Spherical, Ground) nh trn, ch khc cc thng s c trng cho v tr ca
tng chn ti thi im m Robot vn cn trng thi tnh v cc Ground khng
nh du la chn Show Machine Environment port.
Sau khi tt c cc khi cng vi thng s ca chng trong m hnh
Simmechanics ca Hexapod c xy dng, tnh ton v nh dng xong, ta c
th xy dng c m hnh hon chnh ca Hexapod trong Simmechanics chun
b cho vic kho st hot ng ca h thng.
2.2.4 HON CHNH M HNH CA HEXAPOD

Sau khi xy dng s khi v nh dng cc khi, nhm to chuyn
ng cho tay my, ta cp lc hoc mmen quay cho cc khp ch ng nh vo
- 66
khi Actuator, cng nh nhm tin hnh o c cc gi tr v tr v tc phn hi

v c nhng iu chnh ph hp ta gn vo m hnh khi Joint Sensor. Nh
mc 1.2 c, vi nguyn l Hexapod m ti la chn th Prismatic l cc khp
ch ng. Nn y ta i cp lc (Force) cho Prismatic nh Actuator v o v tr
(Position), tc (Velocity) thng qua Joint Sensor. T ta c m hnh
Simmechanis ca cc chn khi ni Sensor v Actuator c th nh sau:
Hnh 2.28 M hnh hon chnh ca Leg1 trong Simmechanics
- 67
Tng t ta cng xy dng c m hnh hon chnh ca Leg2, Leg3, Leg4,

Leg5, Leg6 trong SimMechanics c dng ging nh m hnh ca Leg1 ch khc
cng ra tng ng l B2, B3, B4, B5, B6.
Tin hnh nh dng cc khi:

nh dng khi Actuator:
Hnh 2.29 Bng tham s khi Actuator

n v o ca lc cung cp c chn l N.
nh dng khi Sensor:
Ta cn o v tr v tc nn c chn l Position v Velocity vi n v
tng ng l m v m/s.
- 68
Hnh 2.30 Bng tham s khi Joint Sensor

nh dng khi Body i din cho mt bn g phi:
Hnh 2.31 Bng tham s khi Body
- 69
V xc nh v tr im tc ng cui cng ta s dng thm khi Body

Sensor vi nh dng nh sau:
Hnh 2.32 Bng s khi Body Sensor
T y ta c m hnh Simmechanics hon chnh ca Hexapod sn sng cho

vic kho st hot ng:
- 70
Hnh 2.33 M hnh SimMechanics hon chnh ca Hexapod
- 71
CHNG 3
KHO ST HOT NG CA
ROBOT SONG SONG LOI
HEXAPOD
- 72
Vi m hnh hon chnh SimMechanics ca Hexapod xy dng c

chng trc, ta c th kho st hot ng ca Robot ny ch ng hc thun
v ch ng hc ngc.
3.1 KHO ST HOT NG CA HEXAPOD CH

NG HC NGC
3.1.1 XY DNG M HNH
Xut pht t m hnh hon chnh ca Hexapod
Hnh 3.1 M hnh Simmechanics hon chnh ca Hexapod

Ta xy dng m hnh Hexapod ch ng hc ngc. ch ny, u
vo cung cp cho h thng l cc chuyn ng, u ra l lc cn thit c tnh ton
ng c cung cp cho khp ch ng chnh l khp trt Prismatic.
- 73
Hnh 3.2 M hnh SimMechanics ca Hexapod ch ng hc ngc
- 74
Vi mi chn c m hnh dng nh sau:
Hnh 3.3 Cu trc chn Hexapod ch ng hc ngc

Trong u vo l cc chuyn ng c thng s c cung cp bi khi
Motion thng qua c cu chp hnh Joint Actuator a vo khp ch ng, u ra
l lc c ly qua Joint Sensor.
Vi cc khi Joint Sensor v Joint Actuator c nh dng nh sau:
nh dng khi Joint Sensor:
u ra c chn i vi khp ch ng Prismatic tng ng l lc
Computed Force, n v l N.
- 75
Hnh 3.4 Bng tham s khi Joint Sensor

nh dng khi Joint Actuator:
u vo ch ng hc ngc ng vi khp ch ng Prismatic l: v
tr (Position) ca im tc ng cui, n v l mt; tc (Velocity), n v m/s v
gia tc (Acceleration), n v m/s 2.
Hnh 3.5 Bng tham s khi Joint Actuator
- 76
3.1.2 LA CHN CH V KT QU
SimMechanics h tr kho st hot ng ca h thng c kh bng cch to
mi trng my vi s la chn cc ch phn tch (Analysis mode) khc nhau
trong hp thoi Machine Enviroment. Hp thoi ny to mi trng hot ng cho
Robot bng cch to lc trng trng o tc dng ln cc chi tit ca Robot. Di
tc dng ca lc ny, cc chn Robot chuyn ng ko theo im tc ng cui
cng chuyn ng.
phn tch cc ch ng hc i vi Robot Analysis mode bao gm 4
ch nh sau: i vi Robot c kt cu vng h nu phn tch ch ng hc
thun th la chn Forward Dynamics, cn nu phn tch ch ng hc ngc
th la chn Inverse Dynamics; i vi Robot c kt cu vng kn nu phn tch
ch ng hc ngc th la chn Kinematics.
Hnh 3.6 Bng tham s khi Machine Evironment
- 77
Hnh 3.7 nh dng khi Machine Evironment

i vi modul Constraints
Ta c th kho st hot ng ca Hexapod vi chuyn ng ca khp trt
nhp vo l bt k. n gin chn gi tr chuyn ng t vo khi Motion l [0
0 0] ng vi v tr, tc v gia tc u bng 0. Ngha l lc ny Hexapod ang
trng thi ban u, trng thi tnh vi cc thng s m ta tnh ton trn.
Hnh 3.8 Bng tham s khi Motion
- 78
gi cho Hexapod trng thi ban u ny ng c cn cung cp cho cc

khp trt tng ng c 6 chn lc Force. T Workspace ta tm c u ra ca
h thng ng vi u vo M = [0 0 0] l lc t ln cc khp trt c gi tr:
F = [-48.056 49.306 13.079 -37.752 38.287 -14.474] N
Mt khc trn mn hnh hin th Scope m t v tr chuyn ng ca im tc
ng cui End Effector c gi tr khng i (0 0 1.273) khi u vo l:
M = [0 0 0]
Hnh 3.9 V tr chuyn ng ca End Effector
- 79
3.2 KHO ST HOT NG CA HEXAPOD CH

NG HC THUN
Hnh 3.10 M hnh SimMechanics ca Hexapod ch ng thc thun
- 80
ch ny ta cung cp lc cho cc kh p ch ng l cc khp trt

Prismatic, gi tr thu c s l chuyn ng ca im tc ng cui cng vi v tr
v tc ca cc khp.
La chn ch v kt qu:
Kho st ch ng hc thun ca Hexapod ta tc dng vo khp ch ng
gi tr lc l [0 0 0 0 0 0] Hexapod chuyn ng t do di tc dng ca lc
trng trng.
Quan st trn mn hnh Scope ta thy:
* Chuyn ng ca im tc ng cui:
Hnh 3.11 th chuyn ng ca End Effector
- 81
* th v tr cc khp:
Hnh 3.12 th v tr chuyn ng ca cc khp

* th tc chuyn ng ca cc khp:
Hnh 3.13 th tc chuyn ng ca cc khp
- 82
Nhn xt: ch ny khi khng cung cp lc nhng do tc dng ca lc

trng trng, cc chn robot chuyn ng xung pha di, nhng do chn trn v
chn di lin kt vi nhau bi khp trt, chng tc ng, ko, y ln nhau dn
n chuyn ng ca robot c dng nh trn th Scope.
3.3 CC S SIMULINK PHC V M PHNG

TON B H THNG HEXAPOD
iu khin hot ng ca Hexapod theo mt qu o nh trc, ta cn
xy dng s Simulink phc v m phng t tin hnh iu khin i
tng thc t trong khng gian.
Xut pht t m hnh c bn iu khin Hexapod ca Horhordin Aleksandr
Vladimirovic [10], m hnh Simulink c dng l:
Hnh 3.14 M hnh Simulink phc v iu khin
- 83
3.3.1 C S TON HC
thc hin chuyn to t trc cho Hexapod sang gi tr bin khp t
ly sai lch t vo b iu khin, ta cn xy dng m hnh khi Leg Trajectory.
Phn ny cp n phng trnh ng hc ngc c xy dng. Trn c s
ta i thit k khi ny.
Leg 3
B 4 B3
z
r2
bi
B2
B5
150
B1
B6
Leg 2
Leg 4
Leg 1
Leg 5
A3
A2
A4
Leg 6
r1
A5
ai
A6
450
A1
Hnh 3.15 M hnh Hexapod trong khng gian

Xut pht t phng trnh ng hc ngc:
li = pTp + bi
Hay:
bi + aiTai + 2pT R *bi - 2pTai - 2 R *bi
ai
li = [p + R * b i - ai ]T [p + R * b i - ai ]
(3.2)
= l Ti .l i
Trong :
l i = p + R *bi - ai
ai
aiy
(3.3)
bix
aix
V:
(3.1)
bi
aiz
biy
biz
px
p
py
(3.4)
pz
- 84
t:
q i = D(A i Bi ) D(ai ;p + Rbi )

T ta tnh c sai s gia chiu di chn so vi v tr t trc:
(3.5)
(3.6)
Leg length i = li - q i
Tn hiu ny c dng a vo b iu khin.
3.3.2 XY DNG CC H THNG CON

3.3.2.1 Khi Plant
M hnh ho Hexapod chng 2 to ra c mt m hnh
Simmechanics c th to iu kin cho vic iu khin tip theo. chnh l m
hnh khi Plant vi u vo l lc Forces, u ra l v tr im tc ng cui.
Hnh 3.16 Khi Plant
- 85
Vi h thng tn hiu u vo Force, u ra v tr Position v tc Velocity:
Hnh 3.17 u vo v u ra khi Plant
Vi cc thng s c vit trong M-file mc 2.2.3.1 v cc khi trong

s nh dng t mc 2.2.3.2.
3.3.2.2 Khi Leg Trajectory
Hnh 3.18 S khi Leg Trajectory
- 86
Trong :
Khi Top Plate Reference cung cp tn hiu t ca h thng
X = [px p y p z ]T
(3.7)
Khi Create reference position matrix dng to ma trn p kch thc 3*6
vi cc ct u l [x; y; z] vect to ca im tc ng cui End Effector.
Khi Rotation Matrix gip to ma trn quay R t h to ca mt nn so
vi mt bn g phi.
Khi body_pts cung cp ma trn bi cu trc 3*6 vi cc ct u l [x; y; z]
vect to th hin v tr ca tm khp cu Upper Spherical.
Khi Product Matrix Multiply to ra ma trn 3*6 l kt qu ca php nhn
hai ma trn:
R*b i
(3.8)
Sau b cng Sum1 ta thu c kt qu l mt ma trn kch thc 3*6

R*bi + p
(3.9)
Khi pos_base cung cp ma trn ai cu trc 3*6 vi cc ct u l [x; y; z]

vect to th hin v tr ca tm khp cu Lower Spherical
Sau b cng Sum2, kt qu u ra a ti chn leg vec ca Compute vector
of leg lengths l mt ma trn l i c kch thc 3*6:
l i = R*bi + p - ai
(3.10)
Khi Nominal leg length cung cp vector th hin chi u di qi ca cc chn.

* Khi Compute vector of leg lengths:
Compute vector of leg lengths c cu thnh t 6 khi Leg Length tng t nhau.
- 87
Hnh 3.19- S khi Compute vector of leg lengths
- 88
Trong in hnh l khi Leg Length 1 c dng:
Hnh 3.20 S khi Leg lengths1
Khi Dot Product gip to ra kt qu : l i Tl i

Thng qua b Math Function: sqrt ta c chiu di ca chn:
li = liTli
(3.11)
u ra Leg length ca c 6 khi Leg length c a ti khi to ma trn

1*6 to tn hiu a ti khu r-pos ca PID
Leg lengthi = li - qi
(3.12)
3.3.2.3 B iu khin PID

y s dng b iu khin PID kinh in vi s c th hnh 3.21:
Trong , u vo l cc gi tr v tr (Pos), tc (Vel) v tn hiu u ra ly
t khi Leg Tranjectory thng qua r_pos. u ra l gi tr lc Force cung cp cho
khp ch ng Prismatic ca Hexapod.
- 89
Hnh 3.21- S khi b iu khin PID
3.3.2.4 Khi i m t trc:

Theo yu cu t ra l iu khin End Effector n v tr mong mun c to
[0 0 1.6] vi gc lch ca h to mt bn g phi so vi h to mt nn l
30 0 tng ng l 0.523 rad theo phng z th m hnh ca khi im t trc l:
Hnh 3.22 Khi im t trc
- 90
* M_file d liu iu khin:

% Cac toa do
B1=[0.2415;-0.0647;1.273];% Toa do dau tren cua Upper leg 1
B2=[0.2415;0.0647;1.273];% Toa do dau tren cua Upper leg 2
B3=[-0.0647;0.2415;1.273];% Toa do dau tren cua Upper leg 3
B4=[-0.1768;0.;1.273];% Toa do dau tren cua Upper leg 4
B5=[-0.1768;-0.1768;1.273];% Toa do dau tren cua Upper leg 5
B6=[-0.0647;-0.2415;1.273];% Toa do dau tren cua Upper leg 6
body_pts=[B1 B2 B3 B4 B5 B6];% Ma tran toa do dau tren cua cac
chan
A1=[0.7071;-0.7071;0];% Toa do dau duoi cua Lower leg 1
A2=[0.7071;0.7071;0];% Toa do dau duoi cua Lower leg 2
A3=[0.2588;0.9659;0];% Toa do dau duoi cua Lower leg 3
A4=[-0.9659;0.2588;0];% Toa do dau duoi cua Lower leg 4
A5=[-0.9659;-0.2588;0];% Toa do dau duoi cua Lower leg 5
A6=[0.2588;-0.9659;0];% Toa do dau duoi cua Lower leg 6
body_base=[A1 A2 A3 A4 A5 A6]% Ma tran toa do dau duoi cua cac
chan
l_n=[1.273 1.273 1.273 1.273 1.273 1.273];% Chieu dai binh thuong
cua cac chan
Kp=100;
Ki=500;
Kd=20;
Vi d liu iu
khin a vo s
Simulink hnh 3.14 th v
tr im tc ng cui
chuyn ng nh hnh
3.23
Hnh 3.23 Chuyn ng ca End Effector
- 91
Hnh 3.24 th sai lch v tr ca cc khp

Nhn xt: Vi cc thng s t vo nh d liu b iu khin a trong M-file
th khi im tc ng cui tin n v tr im t trc, sai lch v tr ca cc khp
trt (khp ch ng) ca cc chn Hexapod tin dn v 0
KT LUN
Ba chng lun vn trnh by l kt qu ca vic nghin cu khai thc b
cng c Simmechanics ca Matlab Simulink. Trn c s xy dng c s
m hnh ho hon chnh Robot song song loi Hexapod. V kho st hot ng ca
Robot thng qua m hnh hon chnh . Bc u xy dng c s Simulink
m t phng trnh ng hc ngc, tm ra sai s gia di cc chn thc t v
di tnh ton t vo. Sai s ny c a vo b iu khin. Ly tn hiu u ra
ca b iu khin ny a ti iu khin khp ch ng ca c cu h thng i
theo mt qu o no nh trc. Tuy nhin b iu khin y mi ch
dng li b iu khin kinh in PID m cha i su nghin cu vo cc h iu
khin c th.
- 92
TI LIU THAM KHO

Ting Vit
[1] PGS. TS. o Vn Hip, K thut Robot, Nh xut bn Khoa hc v K thut,
2004.
[2] GS.TSKH Nguyn Thin Phc, Robot Cng nghp, Nh xut bn Khoa hc v
K thut, 2002.
[3] Nguyn Phng Quang, MATLAB & SIMULINK dnh cho k s iu khin t
ng. Nh xut bn Khoa hc v K thut, 2003.
Ting Anh
[4] Adolf Karrger, Stewart - Gough platforms with simple singularity surface.
[5] Alok Joshi, Technical Briefs, December 2005
[6] Andreas Pott and Manfred Hiller, A framrwork for the analysis, synthesis and
optimization of parallel kinematic machines.
[7] Carlos Bier, Direct singulatity closeness indexes for the hexa parallel robot.
[8] Dan Zhang, Zhuming Bi, Development of Reconfigurable Parallel Kinematic
Machines using Modular Design Approach, Faculry of Engineering and Applied
Science, Canada.
[9] Domagoj Jakobovic, Kinematic evaluation anh forward kinematic problem for
Stewart platform based manipulators.
[10] Horhordin Aleksandr Vladimirovic: Control System for parallel minipulator
with six degrees of fredom, Timonin Y- Master Thesis. html
[11] Leonardo Jelenkovic, The forward and inverse kinematics problems for
Stewart parallel mechanisms.
[12] Patrician Ben - Horin, Singularity of a class of Gough - Stewart platforms with
three concurren joint.
- 93
[13] Soltan Stankoczi, Development of a new parallel kinematics machine tool.

[14] Speckert, MBS Simulation of a hexapod based suspension test rig, Germany.
[15] Stankoczi, Development of a new parallel kinematic machine tools, Budapest,
Hungary, June 5, 1999.
[16] Stephen Haberg, Design and Construction of a Proof of Concept Prototype for
a Six-Degree of Freedom Hexapod Motion Nano-Positioning Device, Journal of
Undergraduate Research Volume 5, Issue 1 October 2003.
[17] St Petersburg, Dynamics and control of hexapod system, Jass 2006
[18] Tarcisio A. H. Coelho, Department of Mechatronics anh Mechanical Systems
Engineering.
[19] Technische Universiteit Delft, Model based control of a flight simulator motion
system, 10 December 2001.
[20] The Mathworks, SimMechanics for use with Simulink, Users Guide Version 2,
October 2004.

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Hc vin: Trn Th Thanh Hi

PGS.TSKH Nguyn Phng Quang

LUN VN THC S K THUT

Hc vin: Trn Th Thanh Hi

THI NGUYN 2008

LUN VN THC S K THUT

THI NGUYN 2008

Chng 1- Nghin cu tng quan v Robot

1.1 Gii thiu chung v Robot

1.1.1 Khi nim v Robot

1.1.2 Phn loi Robot

1.1.2.1 Phn loi theo dng hnh hc ca khng gian hot ng

1.1.2.2 Phn loi theo th h

1.1.2.3 Phn loi theo b iu khin

1.1.2.4 Phn loi theo ngun dn ng

1.1.2.5 Phn loi theo kt cu ng hc

1.2 Tng quan v Robot song song loi Hexapod

1.2.1 Vi nt chung v Robot song song

1.2.2 Robot song song loi Hexapod

1.2.2.1 Cu trc hnh hc

1.2.2.2 M t ton hc ca i tng Hexapod

Chng 2- M hnh ho Robot song song loi Hexapod

bng b cng c SimMechanics

2.1.1 Simmechanics v ng dng ca SimMechanics

2.1.2 M t chuyn ng vi SimMechanics

2.1.2.1 Chuyn ng v trng thi chuyn ng

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2.1.2.2 Chuyn ng ca thn trong SimMechanics

2.1.2.3 SimMechanics thay th s nh hng ca thn

2.1.2 Th vin cc khi chun ca SimMechanics

2.1.2.1 Th vin cc khi Bodies

2.1.2.2 Th vin cc khi hn ch v truyn ng

2.1.2.3 Th vin cc phn t lc

2.1.2.4 Th vin cc khp

2.1.2.5 Th vin c cu chp hnh v thit b o

2.1.2.6 Cc ng dng khc

2.2 M hnh ho Robot song song loi Hexapod

2.2.1 Xy dng m hnh khi SimMechanics

2.2.2 Xy dng cu trc tng chn

2.2.2.1 Cu trc chn th nht

2.2.2.2 Cu trc chn hai, ba, bn, nm, su

2.2.3 nh dng cc khi

2.2.3.1 Tnh ton cc thng s c trng cn thit ca tng khi

2.2.3.2 nh dng cc khi trong s SimMechanics

2.2.4 Hon chnh m hnh ca Hexapod

Chng 3- Kho st hot ng ca Robot song song loi Hexapod

3.1 Kho st hot ng ca Hexapod ch ng hc ngc

3.1.1 Xy dng m hnh

3.2 Kho st hot ng ca Hexapod ch ng hc thun

3.3 Cc s Simulink phc v m phng ton b h thng Hexapod

3.3.2 Xy dng cc h thng con

3.3.2.1 Khi Plant

3.3.2.2 Khi Leg Tranjectory

3.3.2.3 B iu khin PID

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3.3.2.4 Khi im t trc

Ti liu tham kho

S ha bi Trung tm Hc liu i hc Thi Nguyn

Kho st hot ng ca Robot song song loi Hexapod 2 ch ng