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Cu 1: Trnh by khi nim v CAD/CAM?

CAD/CAM l lnh vc nghin cu nhm to ra cc h thng t ng thit k v ch to trong my tnh in t c s dng thc hin mt s chc nng nht nh. CAD/CAM to ra mi quan h mt thit gia hai dng hot ng: Thit k v Ch to. -T ng ho thit k l dng cc h thng v phng tin tnh ton gip ngi k s thit k, m phng, phn tch v ti u ho cc gii php thit k. -T ng ho ch to l dng my tnh in t k hoch ho, iu khin v kim tra cc nguyn cng gia cng. - CAD: (Computer Aided Deisgn ) l cng ngh lin quan n vic s dng h thng my tnh gip vic to, sa i, phn tch v ti u ha thit k. + Vai tr trong thi k: - i vi pha khi nim ha thit k cc cng c CAD cn c l cc k thut m hnh ha hnh hc, cc h tr ha v cc thao tc ha. - Pha m hnh ha v m phng thit k cn cc cng c k trn, cng c m phng chuyn ng, lp rp v mt s gi m hnh ha khc. - Pha phn tch thit k cn cc gi v phn tch, cc gi v cc chng trnh ty bin. - Pha thit k ti u cn cc ng dng ty bin v ti u ha kt cu. - Pha nh gi thit k cn cc cng c v dung sai, kch thc v bng cc vt liu. - Pha to ti liu v truyn t thng tin thit k cn cng c to bn v k thut v cng c to nh t bng. - CAM: CAM ( Computer Aided Manufacturing ) l cng ngh lin quan vi vic s dng h thng my tnh lp k hoch, qun l v iu khin cc qu trnh ch to. Cu 2: Trnh by cc chc nng ca h thng CAD/CAM? Khc bit c bn vi qui trnh thit k theo cng ngh truyn thng, CAD cho php qun l i tng thit k di dng m hnh hnh hc s trong c s d liu trung tm, do vy CAD c khnng h tr cc chc nng k thut ngay t giai on pht trin sn

phm cho n giai on cui ca qu trnh sn xut, tc l h triu khin cc thit b sn xut bng iu khin s. H thng CAD c nh gi c kh nng thc hin chc nng yu cu hay khng, ph thuc ch yu vo chc nng x l ca cc phn mm thit k. Ngy nay nhng b phn mm CAD/CAM chuyn nghip phc v thit k v gia cng khun mu c kh nng thc hin c cc chc nng c bn sau: - Thit k m phng hnh hc 3 chiu (3D) nhng hnh dng phc tp. - Giao tip vi cc thit b o, qut to 3D thc hin nhanh chng cc chc nng m phng hnh hc t d liu s. - Phn tch v lin kt d liu: to mt phn khun, tch khun, qun l kt cu lp ghp... - To bn v v ghi kch thc t ng: c kh nng lin kt cc bn v 2D vi m hnh 3D v ngc li. - Lin kt vi cc chng trnh tnh ton thc hin cc chc nng phn tch k thut: tnh bin dng khun, m phng dng chy vt liu, trng p sut, trng nhit , co rt vt liu,... - Ni suy hnh hc, bin dch cc kiu ng chy dao chnh xc cho cng ngh gia cng iu khin s. - Giao tip d liu theo cc nh dng ho chun. - Xut d liu ho 3D di dng tp tin STL giao tip vi cc thit b to mu nhanh theo cng ngh to hnh lp th. Cu 3: Trnh by ng dng ca h thng CAD/CAM? - To mu nhanh thng qua giao tip d liu vi thit b to mu nhanh theo cng ngh to hnh lp th (o qut to ). - Gim ng k thi gian m phng hnh hc bng cch to m hnh hnh hc theo cu trc mt cong t d liu s. - Chc nng m phng hnh hc mnh, c kh nng m t

nhng hnh dng phc tp nht. - Kh nng m hnh ho cao cho cc phng php phn tch, cho php la chn gii php k thut ti u. Cu 4: Trnh by qu trnh thit k v gia cng to hnh theo cng ngh truyn thng? Trong cng ngh truyn thng, cc mt cong 3D phc tp c gia cng trn my vn nng theo phng php chp hnh s dng mu hoc dng. Do vy qui trnh thit k v gia cng bao gm c 4 giai oan phn bit: 1. To mu sn phm, 2. Lp bn v k thut, 3. To mu chp hnh, 4. Gia cng chp hnh.

Qui trnh ny c nhng hn ch: - Kh t c chnh xc gia cng, ch yu do qu trnh chp hnh,

- D dng lm sai do nhm ln hay hiu sai v phi x l mt s ln d liu, - Nng sut thp do mu c thit k theo phng php th cng v qui trnh c thc hin tun t: to mu sn phm - lp bn v chi tit - to mu chp hnh - phay chp hnh. Cu 5:Trnh by qu trnh thit k v gia cng to hnh theo cng ngh CAD/CAM? S pht trin ca phng php m hnh ho hnh hc cng vi thanh tu ca cng ngh thng tin, cng ngh in t, k thut iu khin s c nhng nh hng trc tip n cng ngh thit k v gia cng to hnh:

- Bn v k thut c to t h thng v v to bn v vi s tr gip ca my vi tnh. - To mu th cng c thay th bng m hnh ho hnh hc trc tip t gi tr ly mu 3D. - Mu chp hnh c thay th bng m hnh ton hc - m hnh hnh hc lu tr trong b nh my vi tnh v nh x trn mn hnh di

dng m hnh khung li. - Gia cng chp hnh c thay th bng gia cng iu khin s (CAM). V cng ngh, khc bit c bn gia gia cng to hnh theo cng ngh truyn thng v cng ngh CAD/CAM l thay th to hnh theo mu bng m hnh ho hnh hc. Kt qu l mu chp hnh v cng ngh gia cng chp hnh c thay th bng m hnh hnh hc s (Computational Geometric Model - CGM) v gia cng iu khin s. Mt khc kh nng kim tra kch thc trc tip v kh nng la chn ch gia cng thch hp (gia cng th, bn tinh v tinh). Theo cng ngh CAD/CAM phn ln cc kh khn ca qu trnh thit k v gia cng to hnh theo cng ngh truyn thng c khc phc v rng: B mt gia cng t c chnh xc v tinh xo hn. Kh nng nhm ln do ch quan b hn ch ng k. Gim c nhiu tng thi gian thc hin qui trnh thit k v gia cng to hnh. Cu 6: Trnh by cu to chung ca h thng phn cng ca h thng CAD/CAM? Mt h CAD ni chung thng c cc thit b phn cng sau y: 1. Mt hoc mt s trm thit k vi mt u cui ho v cc thit b vo ca ngi thit k. 2. Mt hoc mt s my v v cc thit b ra khc. 3. Mt my tnh. 4. Cc b lu tr ngoi (b nh ngoi).

CPU (Central Processing Unit), thit b nhp d liu, thit b xut d liu, thit b nh d liu l cc phn cng c bn trong cc h CAD/CAM. Mt my tnh c nhn PC (personal computer) thng thng (nh hnh 1.2) vi cc thit b ngoi vi ti thiu bao gm bn phm chut, mn hnh v mt a mn c th mt s phn mn CAD/CAM lm vic, nhng rt kh thc hin c vic thit k v ch to cho cc d n ln, phc tp. tng nng sut v cht lng thit k ngi ta to ra nhiu phn cng m rng cho CAD/CAM. V d nh: Thit b nhp liu ph bin nht l con chut v bn phm, nhng cc thit b ny khng kh nng nhp thng tin ca cc i tng thit k phc tp nh m hnh ca mt pho tng. nhp thng tin cho cc i tng phc tp nh vy phi s dng cc thit b kt ni vi my tnh nh my o to 3D, my qut lade ( scanr laser) 4D. s dng cho cc nh thit k chuyn nghip, ngi ta ch to ra cc bng s ho trn. l ton b

cc chc nng ca phn mn v vng ho ghp ni vi phn mn CAD/CAM gi l tablet. Cng cn lu rng trong phn cng ca h CAD/CAM khng bao gm cc my cng c. V kt thc ca giai on CAM l kt sut ra cc chng trnh gia cng NC.

H CAD c loi c lp trong ch c mt my tnh c nhn iu khin, c loi ni mng cuc b vi nhiu trm thit k do mt my trung tm iu khin. Cu 7: Trnh by c im ca h thng trn c s my tnh ln, my tnh nh,my vi tnh v trm cng tc?

Cu 8: Nu cc nguyn tc c bn cho vic thit k phn mm ha? Cc nguyn tc c bn cho vic thit k phn mm ho nh sau : 1. Tnh n gin : Phn mm ho phi d s dng.

2. Tnh nht qun : Go phn mm phi em n cho ngi s dng mt phng php vn hnh nht qun v c th d on c cc thao tc tip theo. 3. Tnh ng b : Khng b st mt chc nng no ng k trong b chc nng ho ca phn mm. 4. Tnh bn vng : Chu ng c nhng sai phm nh trong vn hnh ca ngi s dng. 5. Tnh hiu qu : Vi nhng hn ch ca phn cng, phn mm cn khai thc c n mc ti a kh nng ca n. 6. Tnh kinh t : Phn mm khng qu ln hoc qu t tin n mc khch hng khng chp nhn c.

Cu 9: Trnh by chc nng ca phn mm h thng? Cu 10: Trnh by cc chc nng ca gi phn mm ha? 1/ To sinh cc yu t ho Trong ha, thut ng Entity dng ch mt yu t ha hai chiu nh im, on thng, ng trn, v.v... Bn cnh cn phi k n b ch ci, b ch s cng cc k hiu c bit khc, to nn b yu t ha c trong h thng. Thng c mt b phn phn cng c bit (mt chip c cy thm vo card mn hnh) nhm tng tc ca qu trnh to sinh cc yu t ha v cho php ngi s dng kin to ra m hnh ng dng t nhng yu t khng thuc vo cc yu t c sn trong h thng. Thut ng Primitive (nguyn th) thng c dng ch mt yu t ho ba chiu nh hnh cu, hnh tr hay lp phng. Trong m hnh khung dy ba chiu v m hnh c, cc nguyn th c s dng vi t cch l nhng khi c s xy dng nn mt m hnh ba chiu v i tng c th m ngi ta s dng ang quan tm. 2/ Cc php chuyn i: Cc php chuyn i c dng thay i hnh nh trn mn hnh v nh v li cc yu t trong c s d liu. l cng c gip cho ngi s dng xy dn m hnh ng dng theo mun. Cc php chuyn i ni y bao gm php dch chuyn (ti nh v), php quay, php t l (phng to hoc thu nh)... 3/ iu khin hin th v cc chc nng ca s

Nhm chc nng ny gip ngi s dng quan st hnh nh t mt gc mong mun v vi mt t l yu cu. lm c nh vy, cc php chuyn i c vn dng hin th m hnh ng dng theo cch m ngi s dng mong mun. Cng vic ny i khi c gi l php Window v mn hnh ha c quan nim nh mt khung ca s qua ngi s dng nhn vo m hnh. Ch rng ca s c th t bt c u nhn vo i tng ang xt. Bn cnh , kh b nt khut cng thuc nhm chc nng ny. Trong a s h ha, hnh nh c to nn bi nhng ng nt th hin mt i tng c th. Kh b nt khut l mt th tc m nh hnh nh c chia ra thnh nhng nt thy c v khng thy c (hay nhng nt khut). mt s h ho, ngi thit k phi ch ra nt no (hay phn no ca nt) khngthy c kh b khin cho hnh v d hiu hn. mt s h khc, gi phn mm mnh t ng kh b nt khut. 4/ Chc nng phn on : Cc chc nng thuc nhm ny cho php ngi s dng thay th, xo c la chn hoc sa cha nhng phn hnh nh mong mun. Thut ng on dng ch mt phn c th ca bn v cn chn ra sa cha. Php phn on l php chia mt i tng phc tp thnh nhng b phn n gin hn c th qun l c. Mi b phn nh th c gi l mt on. on c th l mt phn t n nh on thng, ng trn, hoc cng c th l mt nhm phn t n nhng v mt logic th vn c xem nh mt phn t n m ta c th thao tc trn . 5/ Cc chc nng Input ca ngi s dng: y l nhm cc k quan trng trong gi phn mm ho v chng cho php ngi s dng a lnh v d liu vo cho h thng. Nhng cng vic ny c thc hin nh cc thit b Input. Cc chc nng Input tt nhin phi c vit sao cho ph hp vi cc thit b vo c th c trong h thng, ng thi phi d nh, d lm quen v tin li cho ngi s dng. Cc chc nng Input cn c vit sao cho c th khai thc n mc ti a li th tng tc ca h ICG. Mt bn thit k phn mm tt va c mi chc nng p ng mi tnh hung vo d liu, li va khng c qu nhiu lnh khin ngi s dng ngp chm trong . Tuy nhin iu ny rt kh t c i vi nhng gi phn mm ln v phc tp. Mt trong nhng hng gii quyt ch yu l n gin ho s giao din ngi - my n mc mt ngi s dng khng hiu bit nhiu v my tnh cng c th khai thc phn mm mt cch hiu qu cho mc ch chuyn mn

ca mnh. Cc phn mm ha chy trong DOS gn y v c bit l chy trong Windows l nhng v d thnh cng theo hng y. Cu17: Trnh by c s i s vect trong khng gian 3D? Cu 18: Trnh by cc biu din v tch cht ca m hnh ha hnh hc ng cong? 1 Biu din ng cong. V ton hc, ng cong c th dc biu din di cc dng: - Phng trnh n. - Phng trnh tng minh. - Phng trnh tham s. Xt ng trn n v trn mt phng (x - y), c tm trng vi gc h to trn hnh 2.1. Mi quan h gia cc to x v y c m t bi phng trnh:
f ( x , y ) = x 2 + y 2 1 = 0

: Phng trnh n

(2.1)

Nu ch xt phn na trn ca ng trn, phng trnh biu din l:

y = g ( x ) = (1 x )

: Phng trnh tng minh (2.2)

Nu t gc gia on thng PO v trc x l tham s ca ng trn, ta c:


x = x( ) = cos
y = y ( ) = sin

: Phng trnh tham s (2.3)

Trng hp t gc to bi PQ v trc x l tham s, th Kt hp vi phng trnh (2.1) ta c:

t = tag = y

( x + 1)

y cng l phng trnh tham s ca ng trn v c gi l phng trnhtham s a thc hu t. Qu trnh thit lp phng trnh tham s hu t ca ng cong v mt cong t phng trnh a thc n c gi l tham s ho. Nn biu din ng cong 3D thch hp di dng phng trnh tham s:

hay di dng vect: Theo dng phng trnh tham s, ng cong c nh ngha mt cch d dng bng cch xc nh min gii hn ca tham s. Khng th xc nh ng cong 3D bi phng trnh n hay tng minh, bi v phng trnh n g(x,y,z)=0 biu din mt cong, do cn hai phng trnh xc nh ng cong 3D. Trong trng hp ny, ng cong c nh ngha nh giao tuyn gia hai mt cong. 2 c tnh ca ng cong. Trong phn ny biu din ng cong, ta s dng phng trnh tham s chun tc:

c tnh c bn ca ng cong, bao gm: a. chy ca ng cong. b. Vect tip tuyn n v. c. Vect php tuyn chnh. d. cong v bn knh cong.

a. chy ln ca vect o hm r ( t ) c gi l chy ca ng cong:


.

Hy tng tng ng cong l con ng v tham s t tng trng cho thi gian. Nh vy, chy ca ng cong tng ng vi tc chy xe. i lng ny c s dng trong thut ton ni suy hnh hc theo phng php qut hnh.

Nu t qung ng i c l tham s s, phng trnh ng cong dng r(s) tr thnh phng trnh tham s t nhin vi chy bng 1. chy ca ng cong khng phi l c tnh ring ca ng cong, l kt qu ca php tham s ho. b. Vect tip tuyn n v: Cho s l tham s t nhin ca ng cong r(t), sao cho:

Vect tip tuyn n v ca ng cong r(t) c nh ngha nh sau: (2.6) hay di dng vi phn: c. Vect php tuyn chnh Ly o hm vect tip tuyn n v T theo t v chun ho gi tr, chng ta c vect n v N, c gi l vect php tuyn chnh ca ng cong: (2.8) V T l vect n v (T.T=1), do vect N vung gc vi vect T (Hnh 2.2). Mt phng nh ngha bi vect T v N c gi l mt phng mt tip. Vect B vung gc vi vect N v T c gi l vect php tuyn i xc nh bi quan h: (2.7)

B = TxN

d. cong v bn knh cong: Hy cho s l tham s t hin v T l vect tip tuyn n v ca ng cong r(t). cong c nh ngha nh sau: (2.9) hay di dng vi phn:

(2.10) trong : .i vi ng cong 2D dng phng trnh tng minh y = y(x), phng trnh trn c dng:

trong : Hy xt ng trn trn mt phng mt tip (Hnh ve), i qua im hin thi r(t) v cong ca n bng chnh cong ca ng cong ti im ny. ng trn ny c gi l ng trn mt tip, bn knh ca ng trn mt tip c gi l bn knh cong v c xc nh bi: (2.11) e. xon ca ng cong: xon ca ng cong 3D c nh ngha nh sau:

trong N l vect php tuyn chnh; B l vect php tuyn i. Phng trnh c bn m t c tnh ca ng cong 3D c gi l phng trnh SerretFrenet:

(2.12)

Cu 19: Trnh by cc biu din v tch cht ca m hnh ha hnh hc mt? 1 Phng php biu din mt cong: a. M hnh mt cong cong dng phng trnh n. Hy xt mt cu n v vi tm ti gc to cc. Cc im pha trong mt cu tho bt ng thc:

v phng trnh:

x 2 + y 2 + z 2 1 = 0

(1)

biu din cc im thuc mt cu. Xt mt cch tng qut, phng trnh n g(x,y,z) = 0 biu din mt cong gii hn bi hai na khng gian g(x,y,z) > 0 v g(x,y,z) < 0. b. M hnh mt cong dng phng trnh tham s. Theo hnh hc vi phn, mt cong c nh ngha nh l nh ca php nh x chnh qui tp hp im trong khng gian 2D vo khng gian 3D v c biu din bi phng trnh: (2) trong : u v v l tham s ca mt cong. i vi hnh cu n v, ta c th d dng tham s ho phng trnh (1) bng cch t tham s u l v tuyn v tham s v l kinh tuyn ca mt cu: (3)

Tng t nh ng trn n v c th tham s ho phng trnh mt cu di hnh thc khc, bng cch s dng a thc hu t. c. M hnh mt cong dng phng trnh phi tham s. Khi min xc nh ca mt cong l mt phng x-y ca h to Descarte (u x, vy ) m hnh tham s (2) tr thnh phi tham s: (4)

Nu ch xt bn cu trn ca mt cu n v th phng trnh (1) c biu din di dng tng minh: (5)

Hnh hc mt cong c minh ho trn hnh 2.3. Ta thng gi phn mt cong trong min tham s gii hn l mt li. Cc mt li lin kt theo iu kin kt ni lin tc to thnh mt cong phc hp.

2. Tnh cht. a. cong. Ma trn c s th hai. Xt ng cong r(t) trn mt cong r(u,v) o hm bc hai ca r(t) theo t c gi tr nh sau: (6) Thc hin php nhn v hng vi vect php tuyn n v n ca mt cong vi ch rng ru .n = rv .n = 0 , ta c: (7a) trong :

cong php tuyn. T phng trnh (2.12), o hm bc hai ca r(t) c tnh nh sau:

Thc hin php nhn v hng mt ln na vi vect n v ch ya rng:T.n = 0: (7b) Gi tr kN.n biu thc trn c gi l cong php tuyn kn. T cc cng thc (7) v (3), ch rng thc sau:
s =r
. .

, cong php tuyn c xc dnh bi cng

(8) ngha vt l ca cong php tuyn nh sau: Ti im hin thi r(u(t),v(t)) trn mt cong r(u,v), dng mt phng i qua vect tip tuyn n v T v vect php tuyn n v n ca mt cong. cong ca ng cong vi mt phng l cong php tuyn ca mt cong ti im r(t) theo phng vect q cong chnh. cong php tuyn (8) l hm ca q :
. .

Do c th tnh gi tr cc i ca cong php tuyn t biu thc:

(9)

Gi tr cc i ca cong php tuyn c gi l cong chnh v c xc nh t (8) nh sau:

(10) trong :

Vi g1 , g 2 , h, d1 , d 2 , e l cc s hng tng ng ca ma trn c s G v D Tch gi tr hai cong chnh c gi l cong Gauss c s dng biu din trn lng ca mt cong. Cu 20: Trnh by cc biu din v tch cht ca m hnh ha hnh khi? Cu 21: Trnh by v phn tch cc dng m hnh ton hc ng cong phng 2D? ng cong 2D c s dng nh cc i tng hnh hc c s trn cc bn v k thut truyn thng m t hnh th 3D. 1. M hnh ng cong di dng phng trnh a thc n. Phng trnh n g(x,y) = 0 biu din ng cong trn mt phng x-y, v d nh ng trn v ng thng c biu din bi phng trnh:

M hnh ny c u im: - D dng xc nh vect tip tuyn v php tuyn, - D dng xc nh v tr tng i gia im vi ng cong. Phng trnh a thc bc 2 g(x,y) = 0 biu din h ng cong conic l giao tuyn gia mt ct phng v mt nn tr. Tu theo v tr tng i gia mt phng ct v mt nn, ng cong conic c th l:

Nhc im chnh ca m hnh ng cong di dng phng trnh n l kh thc hin hnh tun t, y l chc nng quan trng trong ho in ton. Do vy : trong m hnh ho hnh hc, ng cong conic di dng phng trnh tham s c s dng ph bin hn c. Thc t m hnh dng phng trnh a thc n c bc cao hn 2 rt t c s dng. 2. M hnh ng cong di dng phng trnh a thc tng minh. Phng trnh tng minh dng :

m t ng cong trn mt phng x-y. Nu f(x) l a thc bc 2, ng cong l Parabol. c tnh tiu biu ca a thc tng minh l c th chuyn i thnh phng trnh n hoc phng trnh tham s. Nu y = f(x), trong f(x) l a thc ca x, tc l: (1)

Do vy phng trnh a thc tng minh c u im ca phng trnh n v phng trnh tham s, l: - D dng xc nh vect tip tuyn v php tuyn. - D dng xc nh v tr tng quan gia im vi ng cong.

- D dng thc hin hnh tun t. Nhc im chnh ca dng phng trnh tng minh l khng th iu khin ng cong khp kn hoc ng thng ng. Dng phng trnh (3.1) cn c gi l dng phi tham s. Cu 22: Trnh by v phn tch m hnh ton hc ng cong a thc ?

Kho st vic thit lp ng cong vi iu kin bin cho trc bao gm to v tip tuyn ti 2 im u v cui: P0, P1, t0, t1. V rng ng cong c nh ngha bi 2 vect v tr v 2 vect tip tuyn c th biu din chng di dng phng trnh a thc vect bc 3. a thc bc 3 c s dng rt ph bin, bi v l bc ti thiu, dng cc loi ng cong trong khng gian 3D. 1. M hnh ng cong di dng phng trnh a thc chun tc. c tnh ca m hnh a thc chun tc l d dng xc nh. Xt phng trnh a thc vect bc 3:

C th biu din phng trnh a thc ny di dng ma trn theo vect c s U v vect h s A nh sau:

(1)

Phng trnh a thc bc 3 (1) khng th hin c ngha hnh hc, nhngc th c s dng thit lp ng cong trn lng i qua 4 im d liu { Pi: i =1,...,4} theo phng php sau: t di l chiu di ct tuyn gia im Pi v Pi + : 1

T gi tr tham s ui ti cc im Pi c xc nh nh sau:

ng cong bc 3 (1) i qua cc im d liu phi tho iu kin:

Tng qut, ng cong a thc bc n i qua (n+1) im d liu c biu din bi phng trnh a thc:

2. ng cong Ferguson. Ferguson gii thiu mt phng php khc s dng phng trnh (3.2). Theo ng cong c thit lp bi (Hnh 3.1): a. Hai im u cui P0 v P1. b. Tip tuyn u cui t0 v t1. ng cong bc 3 (1) tho iu kin bin P0, P1, t0, t1 chng phi m bo:

(2) Sau cc php bin i, h s PT a thc c xc nh theo biu thc:

(3)

Kt hp biu thc (1) v (3), ng cong Ferguson r(u) theo iu kin bin nh trn c biu din bi ma trn h s Ferguson C v vect iu kin bin Ferguson S nh sau: (4) Thc t d dng xc nh c ln ca vect tip tuyn, do ln ca vect c chn bng chiu di ct tuyn tho yu cu v hnh dng.
t 0 = t1 = P1 P0

. S la chn ny

Phng trnh (1) v (4) u c biu din di dng ma trn c s. C th biu din (4) di dng khc:

(5) Trong :

D dng xc nhn rng phng trnh (5) tho iu kin bin (2). Phng trnh (5) l nh ngha chun v ng cong kt ni Hermite. 3. ng cong Bezier ng cong Bezier c nh ngha bng nhiu phng php. Hy xt phng php xy dng ng cong Bezier bc 3 t phng trnh ng cong Ferguson (4).

Bn nh iu khin Bezier V0, V1, V2, V3 (hnh 3.2a) tho iu kin: V0 l im u ca ng cong, V1 l v tr 1/3 chiu di trn vect tip tuyn u, V2 l v tr 2/3 chiu di trn vect tip tuyn cui, V3 l im cui ca ng cong.

Cui cng ta thay th kt qu (3.7) vo phng trnh ng cong Ferguson

(4) t c phng trnh ng cong Bezier bc 3 biu din bi ma trn h s Bezier M v vect nh iu khin R:

(8) trong :

c tnh tiu biu ca ng cong Bezier l hnh dng ca ng cong ph thuc vo a tuyn li gii hn bi cc nh iu khin ( Hnh 3.2) . Tng t nh ng cong Ferguson c th biu din ng cong Bezier (3.8) di dng phng trnh a thc:

(9) trong :

a thc Bernstein bc n c dng :

(10a) a thc Bernstein c gi l hm c s Bezier s dng nh ngha ng cong Bezier bc n bng cch kt ni (n+1) nh iu khin:

(10b) ng cong Bezier bc n tho iu kin bin sau:

(11)

nh ngha chun v ng cong Bezier theo hm c s Bezier (3.10b) th hin tnh cht hnh hc ca ng cong tt hn so vi biu din di dng ma trn (3.8), v d nh c th chia nh hoc tng bc cho ng cong. Ngc mi dng ma trn c u im l d dng x l d liu. 4. ng cong B-spline u

M hnh ton hc ca ng cong B-spline l phng trnh i s. Ta s nghin cu php dng hnh hiu r tnh cht hnh hc ca dng m hnh ny. Xt 4 nh iu khin V0,...,V3 v cc im M0, M1, P0, P1 vi tnh cht nh sau: (Hnh 3.3).

Nh vy ta c th biu din im bin P0, P1 v tip tuyn t0, t1 theo nh iu khin nh sau:

hay di dng ma trn:

Thay kt qu trn vo phng trnh ng cong Ferguson (3.5) t c phng trnh ng cong B-spline u bc 3 biu din bi ma trn h s Bspline u N v vect nh iu khin R:

Cu 23: Trnh by v phn tch m hnh ton hc ng cong hu t ?

Hm hu t c nh ngha nh l t s ca 2 hm a thc. ng cong hu t c linh hot v hnh dng cao hn so vi cc dng ng cong a thc chun tc khc. ng cong hu t s c dng a thc chun tc nu nh c biu din theo h to ng nht. Ta s kho st dng hu t ca m hnh ng cong Bezier. 1. To ng nht. Ta bit phng trnh tham s ca ng trn n v nh sau:

V mi tyhnh phn ca vect 3D trn c cng mu s, nn ta c th chuyn chng thnh vect ng nht 4 thnh phn R(u) vi 3 thnh phn u tin ng vi t s v thnh phn th 4 ng vi mu s chung:

Vect R(u) c gi l vect ng nht v thnh phn ca chng tr thnh to ng nht ca im 3D (r(u)). Ta c th chuyn i (X, Y, Z, h) thnh (X/h, Y/h, Z/h, 1) tc l thnh (x, y, z, 1). S chuyn i ny gi l s chun ho. ngha hnh hc ca s chun ho l vect 4D c chiu ln mt phng h = 1 trong khng gian 4 chiu. Nh vy vect ng nht (x, y, z, 1) v (hx. hy, hz, h) biu din cng mt im 3D (x, y, z) nu h 0. Theo m hnh hu t mi dnh iu khin Vi(xi, yi, zi) c nh ngha nh nh iu khin ng nht:

trng s Wi lm tng tnh linh hot v hnh dng. Biu din to cc di dng ng nht c s dng rng ri trong cc php bin i to ng dng trong ho cng nh Robot hc. 2. ng cong hu t bc 2. Nu vect nh iu khin Bezier chun tc c thay th bi vect ng nht tong ng ta s t c ng cong Bezier hu t. ng cong Bezier bc 2 c dng:

Ta chuyn i ng cong Bezier bc 2 ny thnh dng hu t. S dng Hi biu din nh iu khin ng nht ca Vi, sao cho:

To cc ca nh iu khin ng nht Hi trn biu thc (3.25) tng ng vi nh iu khin Vi, khng ph thuc vo trng s wi. Do vy ng cong Bezier hu t bc 2 c biu din di dng:

Ta s kho st hnh dnh ng cong ng nht ny. iu kin bin ca ng cong hu t c xc nh bng cch tnh biu thc (3.26) v o hm ca chng ti u = 0 v u = 1.

Ly o hm phng trnh trn theo u ta c:

C th i vi ng cong Bezier bc 2 ta c:

Kt qu trn chng t rng tip tuyn ca ng cong Bezier ng nht (3.26) v ng cong Bezier chun tc (3.24) ti cc im bin c cng phng vi nhau nhng ln ca chng thay i theo t l w1/w0 v w1/w2 (Hnh 3.6).

Phng trnh Bezier ng nht (3.26) c biu din di dng thnh phn ng nht nh sau:

V phng trnh Bezier c biu din ngn gn hn di dng hu t:

trong : Vi = (Xi, Yi, Zi) : nh iu khin Bezier, Wi : trng s. Nh vy ta ch ra rng c th biu din ng cong Bezier hu t hoc di dng ng nht (3.26) hoc di dng hu t (3.30) v ng cong Bezier hu t bc 2 c chuyn i thnh ng cong chun tc khi Wi = 1 vi mi i. M hnh ng cong hu t bc 2 c s dng rt ph bin trong php tham s ho ng cong mt ct cnic.

3. ng cong hu t bc 3.

Ta c th d dng xc nh m hnh hu t cho ng cong Bezier v B-spline bc cao hn. ng cong Bezier bc 3 hu t c dng ng nht tng t nh ng cong Bezier chun tc (3.7):

M hnh ng cong hu t c bc t do cao hn dng nh ngha hnh dng. S dng cc gi tr trng s khc nhau c th iu khin hnh dng ng cong hu t trong min gii hn bi a tuyn c tnh. Nhng qu nhiu bc t do thng khng phi l tt, thc t rt t khi s dng bc cao hn 2. Cu 24: Trnh by v phn tch m hnh ton hc kh rn v mt Cu 25: Trnh by v phn tch cc gii thut c bn trong thit k v gia cng? Cu 26: Trnh by khi nim v nguyn tc v phng php trnh bin dch chng trnh gia cng. Cu 27: Trnh by v ng dng phng php tnh ton qu o dng c mt s trng hp c bn? Cu 28: Phn tch cng ngh gia cng in hnh ? Cu 29: phn tch cng ngh gia cng nhm? ngha cng ngh nhm trong gia cng CAD/CAM? Cu 30: Phn tch cng ngh gia cng linh hot?

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