07/11/12

1
CAD/CAM/CNC CAD/CAM/CNC
Gii thiu v CAD
CAD (Computer-aided Design)
Thit k c s tr gip ca my tnh
Thit k y c hiu l v chi tit
hoc sn phm bng my vi tnh di
dng 2D hoc m hnh ha dng 3D
nh ngha khc v CAD
Computer-aided design (CAD), cn c hiu
l computer-aided design and drafting
(CADD) l vic s dng my tnh h tr
vic xy dng (sng to), chnh sa, phn
tch v ti u ha thit k.
Thit k c s tr gip ca my tnh l qu
trnh to ra cc bn v k thut bng cch s
dng cc phn mm my tnh.
Computer aided Design is a
sub-process of Design process
CAD Technology = Design Techniques +
Computers (HWare+SWare)
M hnh ha
hnh hc
ha
my tnh
Thit k k
thut
CAD Systems
ACAD system consists of three major parts:
1. Hardware: computer and input/output devices.
2. Operating system software.
3. Application software: CAD package.
Application
software
Graphics
utility
Devices
drivers
Input-output
devices
User
interface
Database
(CAD
model)
Basic structure of a CAD system
07/11/12
2
Kt qu ca CAD
Sn phm hay cn gi l u ra ca CAD s l cc
file bn v in t cha cc d liu v hnh hc
phc v cho vic in n bn v hoc phc v vic
to ra d liu cho qu trnh gia cng ch to
CAD khng ch bao gm vn m t hnh hc.
Tng t nh cc bn v k thut v bng tay, u
ra ca CAD cn phi chuyn ti thm cc thng tin
khc nh vt liu, kch thc v dung sai
Li ch ca CAD
1. Tng nng sut thit k,
Automation of repeated tasks
Insert standard parts (e.g. fasteners) from database
2. H tr vic sa i thit k d dng
3. Nng cao cht lng v chnh xc bn v
4. Ci hin vic trao i thng tin,
Gia cc nhm (k s) thit k, ch to v nh cung
cp
Vi cc ng dng khc nh CAM, FEM, CAE
Marketting, trnh by sn phm
5. To ra c s d liu phc v cho qu trnh gia cng ch
to sau ny.
ng dng ca CAD
1. CAD c s dng rng khp trong
nhiu lnh vc cng nghip, bao gm
cng nghip -t, tu thy, hng
khng, kin trc, y hc, nha khoa v.v
2. CAD cng c s dng sn xut
hot hnh hoc cc hiu ng t bit
trong phim nh v qung co.
V d v mt bn v CAD 2D
V d v cc m hnh 3D
Cc mc lch s quan trng ca cc
phn mm CAD thng mi hin i
1981:
Solid modelling packages -Romulus (ShapeData) and Uni-
Solid (Unigraphics)
Surface modeler CATIA (Dassault Systemes)
1982
Autodesk was founded 1982 by John Walker, which led to
the 2D system AutoCAD.
1988
Feature-based modeling methods and parametric linking
of the parameters of features Pro/ENGINEER
Mid-range packages such as SolidWorks in 1995, Solid Edge
(then Intergraph) in 1996 and Autodesk Inventor in 1999.
07/11/12
3
Cc cng c CAD h tr qu trnh thit k
Giai on (pha) thit k Cc cng c CAD yu cu
Thit k tng (phc tho) Geometric modeling techniques;
Graphics aids; manipulations; and
visualization
M hnh ha v m phng Same as above; animation; assemblies;
special modeling packages.
Phn tch Analysis packages; customized
programs and packages.
Ti u Customized applications; structural
optimization.
nh gi, thm tra Dimensioning; tolerances; BOM; NC.
Lp ti liu (h s) thit k Drafting and detailing
Quy trnh chung khi m hnh ha bng CAD
Gii thiu (nh ngha) v CAM
CAM (Computer-aided Manufacturing) Gia cng,
ch to, sn xut c s tr gip ca my tnh
Theo ngha hp v thng dng nht, CAM l s dng
my tnh iu khin my cng c v cc my mc c
lin quan nhm gia cng cc chi tit.
Theo ngha rng, CAM l s s dng h thng my
tnh lp k hoch sn xut, qun l, v iu khin
hot ng ca mt nh my SX bng cch trc tip
hoc gin tip tc ng ln cc trang thit b my mc
trong nh my
nh ngha khc v CAM
Nu theo ngha hp, CAM l mt qu trnh
tip ni sau CAD v i khi l CAE,
khi m sn phm to ra t CAD c phn tch,
tnh ton, kim tra ri nhp vo cc phn
mm CAM,
sau iu khin my cng c CNC gia cng
Cc bc trong CAM
(theo ngha rng)
M hnh ha hnh hc
Trao i d liu
Lp k hoch sn xut
Chng trnh gia cng
Kim tra
Lp rp ng gi
Mt ng dng ca CAM:
T m hnh CAD n sn phm trong cng ngh
khun mu
M hnh CAD
To lng khun
v Phn khun
Tao ng chy dao
v cng o nh CAM
Gia cng tht trn
my phay CNC
07/11/12
4
Cc phm mm CAM thuc top 10
nm 2010
1. Cimatron (4.1%) with GibbsCAM
2. CNC Software (3.3%) with Mastercam
3. C&G Systems (3.7%)
4. Dassault Systmes (18%) with CATIA
5. Delcam(7.5%) with PowerMILL
6. Open Mind (3.8%) with HyperMill
7. Planit (6.3%) with Edgecam
8. PTC (4.6%) with Pro/E
9. Siemens PLM Software (12.1%) with NX
10. Tebis AG (4.4%) with Tebis
11. Ngun: http://www.cimdata.com/news_events/press_release.html?press_release_ID=99
S tch hp ca CAD/CAM
Thit k v ch to c s tr
gip ca my tnh CAD-CAM
thng c gn lin vi
nhau (tch hp)
The CAM Process is a subset
of Manufacturing Process
Integration of CAD and CAM
leads to automation
nh ngha CAD/CAM da vo cu thnh
Mfg tools
Networking
Design tools
Geometric
modeling
Computer
graphics
concepts
CAD/CAM
tools
M hnh ha
hnh hc
Cng c
thit k
ha
my tnh
Mng truyn
thng
Cng c
ch to
The Product Cycle and CAD/CAM
hiu r hn v phm vi ng dng v
nh ngha ca CAD/CAM trong mi
trng k thut, ng thi xc nh cc
cng c c lin quan
ta cn nghin cu mt chu k sn xut
in hnh (Product cycle)
The Manufacturing Process
The Design Process
Synthesis
Analysis The CAD Process
The CAM Process
Design
needs
Design
definitions,
specifications,
and requirements
Collecting
relevant design
information and
feasibility study
Design
conceptualization
Design
modeling and
simulation
Design
analysis
Design
optimization
Design
evaluation
Design
documentation and
communication
Process
planning
Order
materials
Design and
procurement of
new tools
Production
planning
NC, CNC, DNC
programming
Production
Quality
control
Packaging
Marketing
Shipping
Typical Product Life Cycle
Minh ha Qu trnh thit k
07/11/12
5
Implementation of a Typical CAD Process on a
CAD/CAM system
Phc ha hnh
dng
Chuyn i phc
ha
M hnh hnh hc
Phn tch
Bn v chi tit
Ti liu thit k
To CAM Process
Trao i d liu
v giao tip gia
cc m-un
Thay i thit k
Implementation of a Typical CAM Process on a
CAD/CAM system
M hnh hnh hc
Trao i d liu
v gia tip
Lp k hoch sn xut
Kim tra
Lp rp
ng gp
Giao hng n th trng
NC programs
u im ca cc h thng CAD/CAM
1. Linh hot hn
2. Rt ngn thi gian thit k
+ chun b sn xut + sn
xut (lead time)
3. Gimchi ph u t
4. Tng nng sut
5. Ci thin dch v khch
hng
6. Tng cht lng SP
7. Ci thin mi giao tip
vi nh cung cp ph tng
8. Thit k SP tt hn
9. iu khin sn xut
tt hn
10. H tr tch hp
11. Gimgi thnh
12. Gims lng my
cng c
13. Gim khng gian nh
xng
Gii thiu v sn xut
Sn xut l bin cc chi tit c thit k thnh sn phm
vt l (sn phm tht)
Mt s tiu ch nh gi qu trnh sn xut:
Cht lng
C p ng yu cu k thut khng?
Nng sut
Bao nhiu sn phm c sn xut trong mt n v thi gian?
Gi thnh
Gi ca mi sn phm
S tin u t cho my mc v trang thit b dng c?
linh hot
Chng ta c th sn xut sn phm no khc vi trang thit b
hin c?
Mt bao nhiu thi gian ti c cu li quy trnh sn xut?
S ca mt nh my n gin
Nguyn vt liu
Nng lng
Ph tng cung cp
Lao ng
Vn
Ph phm
Cht thi
Sn phm
t yu cu
07/11/12
1
HA VI TNH HA VI TNH
Computer graphics
Khi nim
1. ha my tnh (Computer Graphics ) l ha
c to bi my tnh, ni cch khc l s thao
tc v biu din d liu nh bng my tnh
2. ha my tnh l mt khoa hc lin ngnh
my tnh v cc k thut khc cung cp mt
phng thc tng tc gia con ngi v my
tnh thng qua mn hnh.
3. ha my tnh lin quan n vic to cc m
hnh 2 chiu, 3 chiu, phi cnh v t bng
mang li s biu din trc quan cc vt th,
phong cnh, hot hnh, m phng v thc t o.
Cc k thut ha
ha vc-t (vector graphics)
ha mnh (raster graphics)
ha vc-t
ha vector s dng cc i tng hnh hc
c bn nh im, ng thng, ng cong
hoc a gic, ng trn, elip da vo cc
cng thc ton hc biu din hnh hc.
ha vector da trn cc hnh nh c to
bi cc vector (cn c gi l cc ng
hoc nt) c nh ngha bng cc im iu
khin. Mi im u c ta x v y trn mt
phng lm vic v hng ca vector (cn gi l
track). Mi track c th c gn c mu sc,
hnh dng, dy nt v nn t bn trong
hnh.
ha vc-t
nh vector khi zoom to khng b nt
nt hoc nhe v khng nh hng
n kch thc ca file d liu bi v
cc thng tin c lu di dng
cu trc ch khng phi im nh
nh ha mnh (raster graphics)
Khi in n, cc file ha vector c
in di dng nh bitmap sau khi
chuyn t dng vector sang bitmap.
Cc phn mm CAD u dng ha
vector
V d v thng tin v hnh trn
For example, consider a circle of radius r. The main
pieces of information a programneeds in order to
draw this circle are
1. an indication that what is to be drawn is a circle
2. the radius r
3. the location of the center point of the circle
4. stroke line style and color (possibly transparent)
5. fill style and color (possibly transparent)
07/11/12
2
ha mnh (raster graphics)
nh ha mnh, cn gi l nh bitmap,
l tp hp mt ma trn im biu din
trong khung li pixel hay cn gi v cc
im nh trong mt hnh ch nht. nh
ny c th nhn thy c thng qua cc
thit b nh mn hnh, giy hoc cc
phng tin biu din hnh nh khc.
nh vector cha trong cc file nh vi rt
nhiu nh dng khc nhau nh bmp,
jpeg, tga, tiff, png
Thut ng raster xut pht t ting La-
tinh c ngha l qut, c ngun gc p
dng cho cch qut nh ca ng phng
in t CRT ca mn hnh CRT. nh c
v bng cch qut tng ng thng cc
chm in t iu khin (li) bng t
trng.
u im ca ha vector so vi
ha mnh
1. Dung lng ca file nh vector nh hn dung lng
ca file nh bitmap.
2. Khi zoomto nh vi t l rt ln, nt v trn tru
ca cc i tng nh ng thng, cung trn vn
c gi nguyn. dy nt ca cc ng khng
tng ln mt cch t l khi zoom to
3. Cc tham s ca i tng nh c th chnh sa sau
ny (d dng thc hin cc thao tc di chuyn, t l,
xoay v t mu)
4. Vi nh phi cnh 3D, t bng bng nh vector cho
hnh nh chn thc hn
Phng php v ng thng Phng php v ng thng
trong ha my tnh trong ha my tnh
Thut ton ha DDA
(Digital differential analyzer)
Trong ha my tnh, phn cng hoc phn
mm thc hin php phn tch vi phn s DDA
c dng ni suy tuyn tnh v biu din
on thng cho bi im u v im cui.
Cch n gin nht ca thut ton DDA ni suy
tuyn tnh cc gi tr trong khong [(x
start
, y
start
),
(x
end
, y
end
)] bng cch tnh x
i
trong phng trnh x
i
= x
i1
+1/m, y
i
= y
i1
+ m, trong x = x
end
x
start
and y = y
end
y
start
v m = y/x
Thut ton DDA
X
Y
P
end
P
start
X
start
X
end
Y
start
Y
end
X
Y
Mt ng thng c th biu din bng
phng trnh:
y = mx + c (1)
Trong h s gc (2)
V hng s c = y
s
mx
s
(3)
Trong thc t ni suy s dng phn cng,
ngi ta khng dng 3 phng trnh trn m
dng thut ton DDA. Thut ton phn tch vi
phn s DDA cho php tc tnh ton rt
nhanh
s e
s e
x x
y y
m

=
Vi phn phng trnh (1) ta c:
dy = m dx, thut ton DDA nh sau:
Xt ng thng c h s gc m dng v m<1. Chn dx=1, lc cc gi tr ca y
c tnh mt cch tun t lin tip:
y
k+1
= y
k
+m (4)
Nu m >1, o ngc vai tr ca x thnh y, chn dy=1, khi
x
k+1
= x
k
+1/m
Khi tnh ton, cc gi tr ca x v y c lm trn thnh s nguyn v ta pixel
khng th l s l thp phn.
V d DDA
Ni suy mt on thng c:
im bt u (10,20)mm
im kt thc (100,80) mm
Biu din on thng ny trn mt mn hnh c kch thc 300x250mm c phn
gii l 640x480 pixel
Gii:
Tnh h s phng i (hoc thu nh) theo phng x v y:
x
s
= 640/300 = 2.133 pixel/mm
y
s
= 480/250 = 1.920 pixel/mm
biu din c ton b ng thng trong mn hnh, chn phng i b 1.920
pixel/mm
- Chuyn ta im u v im cui ca on thng thnh ta pixel
- im u: (10*1.92,20*1.92) = (19,38)
- im cui: (100*1.92,80*1.92) = (192,154)
- Tnh x = 192 -19 =173
- Tnh y = 154 -38 = 116
- Tnh m = y/x = 116/173 = 0.671
- V m < 1 nn chn gia s dx =1 v p dng cng thc y
k+1
= y
k
+m
(Ta c th lp bng tnh, cho x ln lt tng 1 n v v tnh ln lt y
k
07/11/12
3
V d tnh ton
x y tnh ton y lm trn
19 38.671 39
20 39.341 39
21 40.012 40
22 40.682 41
23 41.353 41
24 42.023 42
25 42.694 43
26 43.364 43

43
42
41
40
39
19 20 21 22 23 24 25 26
Li pixel
on thng c biu
din (on u)
Cc thut ton ha khc thay th
cho DDA
Bresenham's line algorithm is an algorithm for
line rendering.
Xiaolin Wu's line algorithm is an algorithm for
line anti-aliasing
Hiu ng bc thang
Cc thut ton ni suy v im ha tnh ton v tr cc pixel theo cch lm
trn thnh s nguyn. Do cc ng nghing s b hiu ng bc thang.
Hiu ng cng r khi ng nghing c gc nghing b.
phn gii mn hnh cng ln th hiu ng cng t.
Hin th ng thng theo pixel gy nn hin tng mt on thng c
chiu di bng nhau c th biu din bng s pixel khch nhau, hoc ngc
li, vi cng mt s lng pixel c th biu din cc on thng c chiu di
khc nhau ty theo gc nghing ca chng
Cch kh hiu ng bc thang
Nu so snh din mo ca mt ng thng
nh nhau v trn AutoCAD v v trn MS
Word hoc Power point th chng hon ton
khc hn v hiu ng bc thang.
lm gim hiu ng bc thang ngi ta da
vo l thuyt ly mu v lm m mt s pixel
vng bin tip gip gia mu nn v mu
ca ng.
Anti-Aliasing
Gi s khi zoom to mt on thng,
rng ca nt cng thay i. Hnh
dng l tng ca on thng l mt
hnh ch nht hp nm nghing nh
hnh v. Cc pixel no nm trong hnh
ch nht y s c mu m, ct hnh
ch nht s b lm nht mu (thay i
transparent) v ngoi hnh ch nht
th khng c mu (trng mu nn)
Lm gim hiu ng bc thang i hi
vic tnh ton nhiu hn.
Khi no pixel mu m nht, khi no
mu xm, khi no nht nht?
Phng php v ng trn Phng php v ng trn
trong ha my tnh trong ha my tnh
07/11/12
4
ng trn
ng trn l mt i tng quan trng
trong ha vi tnh khng km vai tr ca
ng thng
Mt s thut ton v ng trn:
Da theo cng thc ton biu din ng trn
Thut ton Bresenham
Thut ton da vo cng thc ton
ca ng trn, theo ta -cc
2
c
2
c
c c
2 2
c
2
c
) x - (x - r y = y
r + x den r - x chay tu x cho
r = ) y - (y + ) x - (x
Gi x
c
v y
c
l ta ca tm ca ng
trn, phng trnh ng trn bn knh r l:
Cng thc ny s dng bnh phng v cn bc hai tnh
ta cc im trn ng trn.
Thut ton da vo cng thc ton
ca ng trn, theo ta cc
Polar coordinates
Symmetry of circles
Tt c cc thut ton trn i hi thi gian
tnh ton ln do cc php ton cn bc hai
hoc lng gic
sin(angle) r + y = y
cos(angle) r + x = x
c
c
Thut ton v ng trn Midpoint
hoc Bresenham
(born 11 October 1937 Clovis, New Mexico)
Nguyn l ca thut ton midpoint hoc thut
ton Bresenham l:
1. V ng trn gc phn tm (octant)
th nht c tm ti (0,0),
2. Sau tm cc gc phn tm cn li
bng php i xng
3. Cui cng dch chuyn ng trn n
(x
c
, y
c
).
The circle function is the decision
parameter.
Calculate the circle function for the
midpoint between two pixels.
Thut ton Bresenham
1. Nhp bn knh r, tm (x
c
, y
c
), sau xc nh mt im
u tin trn ng trn c ta (x
o
, y
0
) = (0, r).
2. Calculate the initial value of the decision parameter as
p
0
= 5/4 r (1 r if an integer)
3. Ti mi x
k
, t k=0, thc hin cc php th sau:
- Nu p
k
<0, im tip theo cn v tip tc trn ng
trn c tm t ti (0,0) l (x
k
+ 1, y
k
) v p
k+1
= p
k
+ 2 x
k+1
+ 1
- Nu khng (tc l p
k
>0), im tip theo cn v l:
(x
k
+ 1, y
k
- 1) v p
k+1
= p
k
+ 2 x
k+1
+ 1 - 2 y
k+1
trong : 2 x
k+1
= 2 x
k
+ 2, v 2 y
k+1
= 2 y
k
2
V d v thut tonBresenham
(thc hin trn Matlab)
Xc=10; yc =5; r =30 Xc=10; yc =5; r =50
07/11/12
5
V ellip
1. The ellipse is a variation of a circle. Stretching
a circle in one direction produces an ellipse.
2. The polar equations for an ellipse with centre
at X
C
, Y
C
are:
X=X
C
+ a * cos ()
Y=Y
C
+ b * sin ()
3. The above equations can be used to plot an
ellipse in a manner similar to that of
generating a circle.
V ellip
4. Determine symmetry points in the other seven
octants.
5. Move each calculated pixel position (x, y) onto
the circular path centered at (x
c
, y
c
) and plot the
coordinate values:
x = x + x
c
, y = y + y
c
6. Repeat steps 3 through 5 until x >= y.
Cc h ta
H ta ton cc (world co-ordinate
system -WCS)
H ta ngi dng (use co-ordinate
system -UCS)
H ta ton cc
(World co-ordinate system WCS)
1. H ta WCS c gi l h
ta gc dng lm gc v tr
cho tt c cc loi ta khc.
i khi n cn c gi l h
ta m hnh (model co-
ordinate system ).
2. H ta WCS l h ta
-cc.
3. Ngi s dng c th dng ta
cc, ta tr, ta cu.
Tuy nhin phn mm s
chuyn cc loi ta ny
thnh ta -cc khi lu d
liu.
H ta ngi dng
(use co-ordinate system UCS)
Ngoi h ta ton cc, cc
h thng CAD cn cho php
ngi dng nh ngha cc h
ta ngi dng d dng
v cc m hnh m khng cn
tnh ton li v tr ta so vi
h ta ton cc
V d khi mun v mt hnh tr
c bn knh r v chiu cao trn
mt mt bn ca mt hnh khi
lp phng, cch tin li nht
l s nh ngha mt h ta
ngi dng c tm nm mt
bn, trc x v y nm trong mt
phng
WCS
UCS
Cu trc c s d liu
cho ha my tnh
1. M hnh c s d liu quan h
2. M hnh c s d liu phn cp
3. M hnh c s d liu mng
Ba m hnh c s d liu thng dng nht:
07/11/12
6
C s d liu quan h
D liu biu din quan h c lu tr trong
cc file truy xut dng tun t.
V d i tng trn hnh bn c m t bng ba quan
h:
im (biu din ta cc nh)
ng (ch ra nhng nh l im cui ca ng)
Mt (ch ra cc cnh gii hn mt mt)
C s d liu phn cp
L cu trc dng cy gm nhiu phn t c th bc
gi l nt.
nh cy gi l nt gc, s phn cp tnh t nt ny
tr xung to thnh cc mc khc nhau
C s d liu mng
C mi quan h many-to-many gia cc phn
t. Phn t mc di c th lin kt vi
nhiu phn t mc trn
Cu trc d liu c s cho ha
1. Cc mng tnh (static aray)
2. Cc dng d liu c cu trc (struct ca C,
record ca pascal)
3. Con tr (pointer)
4. Danh sch lin kt (cu trc d liu ng cho
php pht trin ln thm hoc thu nh)
5. Cu trc cy: cy tng qut, cy nh phn, cy
t phn
V d v cu trc cy nh phn trong m t
hnh hc khi rn cu trc CSG
07/11/12
7
Cc tiu chun ha
Graphics Standards
C rt nhiu tiu chun ha c s dng.
Vn s dng tiu chun no ph thuc vo
tnh tin li v s c lp ca thit b.
1. BGI (Borland graphics interface, 1987)
2. GKS (graphics kernel system, the first ISO standard for low-level
computer graphics, introduced in 1977)
3. PHIGS (Programmer's Hierarchical Interactive Graphics System) is an API
standard for rendering 3D computer graphics, at one time considered to be
the 3D graphics standard for the 1990s)
4. OpenGL (Open Graphics Library developed by Silicon
Graphics Inc. in 1992 and is widely used in CAD, virtual
reality, scientific visualization, information visualization,
flight simulation, and video games)
Tiu chun trao i d liu
graphics data exchange
cc phn mm CAD khc nhau c th giao tip
v trao i d liu hnh hc ln nhau, vic ny i
hi phi s dng cc chng trnh bin dch gia
cc phn mm vi nhau s phc tp
Cc phn mm CAD hin nay s dng cc
chng trnh tin x l (preprocessor) chuyn
d liu CAD ca mnh thnh cc file trung ha
(neural file) v ngc li cng c th chuyn cc
file trung ha thnh dng d liu CAD ca mnh
IGES
The Initial Graphics Exchange Specification (IGES) (pronounced
eye-jess) is a file format which defines a vendor neutral data format
that allows the digital exchange of information among Computer-
aided design (CAD) systems.
The official title of IGES is Digital Representation for
Communication of Product Definition Data, first published in
January, 1980 by the U.S. National Bureau of Standards as NBSIR
80-1978. Many documents (like early versions of the Defense
Standards MIL-PRF-28000
[1]
and MIL-STD-1840
[2]
) referred to it as
ASME Y14.26M, the designation of the ANSI committee that
approved IGES Version 1.0.
Using IGES, a CAD user can exchange product data models in the
form of circuit diagrams, wireframe, freeform surface or solid
modeling representations. Applications supported by IGES include
traditional engineering drawings, models for analysis, and other
manufacturing functions.
History
The IGES project was started in 1979 by a group
of CAD users and vendors, including Boeing,
General Electric, Xerox, Computervision and
Applicon, with the support of the National
Bureau of Standards (now known as NIST) and
the U.S. Department of Defense (DoD). The name
was carefully chosen to avoid any suggestion of a
database standard that would compete with the
proprietary databases then used by the different
CAD vendors.
File format
An IGES file is composed of 80-character ASCII records,
a record length derived from the punched card era.
Text strings are represented in "Hollerith" format, the
number of characters in the string, followed by the
letter "H", followed by the text string, e.g., "4HSLOT"
(this is the text string format used in early versions of
the Fortran language). Early IGES translators had
problems with IBMmainframe computers because the
mainframes used EBCDIC encoding for text, and some
EBCDIC-ASCII translators would either substitute the
wrong character, or improperly set the Parity bit,
causing a misread.
07/11/12
8
The file is divided into 5 sections: Start, Global,
Directory Entry, Parameter Data, and Terminate
indicated by the characters S, G, D, P, or T in
column 73. The characteristics and geometric
information for an entity is split between two
sections; one in a two record, fixed-length format
(the Directory Entry, or DE Section), the other in a
multiple record, comma delimited format (the
Parameter Data, or PD Section), as can be seen in
a more human-readable representation of the
file.
[
STEP (ISO 10303)
ISO 10303 is an ISO standard for the
computer-interpretable representation and
exchange of product manufacturing
information. Its official title is: Automation
systems and integration Product data
representation and exchange. It is known
informally as "STEP", which stands for
"Standard for the Exchange of Product model
data". ISO 10303 can represent 3D objects.
The International standard's objective is to provide a mechanism
that is capable of describing product data throughout the life cycle
of a product, independent from any particular system. The nature
of this description makes it suitable not only for neutral file
exchange, but also as a basis for implementing and sharing product
databases and archiving.
Typically STEP can be used to exchange data between CAD,
Computer-aided manufacturing, Computer-aided engineering,
Product Data Management/EDM and other CAx systems. STEP is
addressing product data from mechanical and electrical design,
Geometric dimensioning and tolerancing, analysis and
manufacturing, with additional information specific to various
industries such as automotive, aerospace, building construction,
ship, oil and gas, process plants and others.
History of STEP
The evolution of STEP can be divided into four release phases. The
development of STEP started in 1984 as a successor of IGES, SET
and VDA-FS.
[1]
The initial plan was that "STEP shall be based on one
single, complete, implementation-independent Product Information
Model, which shall be the Master Record of the integrated topical
and application information models".
[2]
But because of the
complexity, the standard had to be broken up into smaller parts
that can be developed, balloted and approved separately.
[3]
In
1994/95 ISO published the initial release of STEP as international
standards (IS) with the parts 1, 11, 21, 31, 41, 42, 43, 44, 46, 101,
AP 201 and AP 203.
[4]
Today AP 203 Configuration controlled 3D
design is still one of the most important parts of STEP and
supported by many CAD systems for import and export.
Danh sch file format ca cc phn mm
CAD thng dng
1. 3dxml Dassault Systemes graphic representation
2. ART ArtCAMmodel
3. ASC BRL-CAD Geometry File (old ASCII format)
4. ASM Solidedge Assembly, Pro/ENGINEER Assembly
5. BIN, BIM Data Design System DDS-CAD
6. CATDrawing CATIA V5 Drawing document
7. CATPart CATIA V5 Part document
8. CATProduct CATIA V5 Assembly document
9. CATProcess CATIA V5 Manufacturing document
10. DWG AutoCAD and Open Design Alliance
applications
07/11/12
9
Danh sch file format ca cc phn
mm CAD thng dng
11. DFT Solidedge Draft
12. DGK DelcamGeometry
13. DMT DelcamMachining Triangles
14. DXF ASCII Drawing Interchange file format
AutoCAD
15. DWF AutoDesk's Web Design Format; AutoCAD &
Revit can publish to this format; similar in concept to
PDF files; AutoDesk Design Review is the reader
16. FM FeatureCAMPart File
17. GLM KernelCAD model
Danh sch file format ca cc phn
mm CAD thng dng
18. IAM Autodesk Inventor Assembly file
19. IDW Autodesk Inventor Drawing file
20. IGES Initial Graphics Exchange Specification
21. IPN Autodesk Inventor Presentation file
22. IPT Autodesk Inventor Part file
23. model CATIA V4 part document
24. PAR Solidedge Part
25. PRT NX (recently known as Unigraphics),
Pro/ENGINEER Part, CADKEY Part
26. PSM Solidedge Sheet
27. PSMODEL PowerSHAPE Model
Danh sch file format ca cc phn
mm CAD thng dng
28. RLF ArtCAMRelief
29. SLDASM SolidWorks Assembly drawing
30. SLDDRW SolidWorks 2D drawing
31. SLDPRT SolidWorks 3D part model
32. STEP Standard for the Exchange of Product model data
33. STL Stereo Lithographic data format used by various CAD
systems and stereo lithographic printing machines.
34. TCW TurboCAD for Windows 2D and 3D drawing
35. UNV I-DEAS I-DEAS (Integrated Design and Engineering Analysis
Software)
36. WRL Similar to STL, but includes color. Used by various CAD
systems and 3D printing rapid prototyping machines. Also used for
VRML models on the web.
07/11/12
1
Cc k thut m hnh ha hnh hc
(geometric modeling techniques)
M hnh khung dy (wire frame)
M hnh mt (surface model)
M hnh khi rn (solid model)
M hnh khung dy
M hnh ch c biu
din bng cc cnh vin
M hnh ny thng
xut hin trong cc phn
mm CAD th h u
Kh quan st v d
nhm ln i vi cc chi
tit phc tp
M hnh mt
M hnh mt c s dng ph bin trong thit k cc
sn phm thuc ngnh hng khng v -t.
M hnh c biu din bng cc b mt, v mt c
biu din bng cc cnh (edges) v cc nh (vertex)
Surface Representation
Cc loi m hnh mt
1. M hnh mt s cp (primitive)
2. M hnh mt c bn (basic surface)
3. M hnh mt phc tp (advanced surface)
4. M hnh mt ghp t cc li tam gic
hoc t gic (facets)
M hnh mt s cp
Cc loi mt s cp trong m hnh mt l: (box,
pyramid, wedge, dome, sphere, cone, torus, dish and
mesh)
Cc mt s cp c th d dng m t bng cc cng
thc ton hc s cp c bn
Phng trnh ton ca mt s mt s cp
Mt cu
Vi mt cu c tm ti gc, phng trnh tham s l:
(0 2, 0 2 v a l khong cch t gc ta n tm mt ct)
Mt xuyn:
Mt cn: , dng tham s
2 2 2 2
) ( ) ( ) ( R z z y y x x
c c c
= + +

=
=
=

cos
sin sin
cos sin
a z
a y
a x

=
+ =
+ =

sin
sin ) cos (
cos ) cos (
b z
b a y
b a x
0
2
2
2
2
2
2
= +
c
z
b
y
a
x

=
=
=
u z
au y
au x

sin
cos
07/11/12
2
Plane
A plane is an infinite surface that is perfectly flat. Can be infinite or a
bounded region
A plane is defined by a point and a normal vector. The parameterization
of a plane is defined by two additional parameters: a vector
perpendicular to the normal that specifies the u-parameter direction
and scaling, and a flag that specifies whether the parameterization of
the plane is right-handed or left-handed.
Torus (mt xuyn)
Torus is a surface of revolution generated by
revolving a circle in three dimensional space
about an axis coplanar with the circle.
Mt Cone
Trong trng hp tng qut, mt
c s ca mt cn l mt ellipse,
trng hp c bit l ng
trn.
The geometry of a cone is defined
by a base ellipse and the sine and
cosine of the major half-angle of
the cone.
The normal of the base ellipse
represents the axis of the cone.
Mt tr l mt trng hp c
bit ca mt cn.
M hnh mt c bn
1. L cc m hnh mt c to ra bng cc
php qut hnh c bn nh php xoay
(revolve), php n (extrude, rule) v qut
(sweep) theo ng dn. i tng 2D c
qut theo mt qu o no khng trng
mi mt phng cha i tng 2D
M hnh mt c bn
2. M hnh mt c th c to ra bng cc
ghp cc mt a gic
3. Hoc dng cc k thut m hnh s dng cc
ng cong phc tp nh B-splines hoc
NURBS (s hc sau)
Cc php qut hnh to m hnh mt c bn
1. Php xoay (revolve)
2. Php n (extrude)
3. Qut theo ng dn
(sweep)
AutoCAD
Pro/Engineer
07/11/12
3
V m hnh mt c bn trong Pro/E
Mt n (Extrude)
Mt trn xoay
(Revolve)
Trc
quay
i tng
2D
i tng
2D
Hng n
V m hnh mt trong Pro/Engineer
Mt qut theo ng dn
ng dn
ng dn
Mt ct 2D
Kt qu
ng dn
Mt ct 2D
V m hnh mt trong ProE
Mt trm (Blend)
Mt trm t cc tit din nm
trong cc mt phng song song
Truc Z
R1=100
R2=120
R3=140 R4=160
60
0
60
0
50x5
0
60x6
0
70x7
0
80x8
0
Goc
xoay
Sau khi
Smooth
Mt trm t cc tit din xoay
Khng
lm trn
Lm trn Khng
lm trn
Lm trn
M hnh mt nng cao (mt phc tp)
M hnh mt nng cao da
trn cc php qut hnh phc
tp hoc to cc mt cong
Bezier, mt cong B-Spline, mt
cong NURBS t cc ma trn
im.
Boundaries blend
Blended Surf
Datum point
Datum curve 1
Datum curve 2
120
60
Datum curve 3
Datum curve
4
Datum curve
4
Datum curve
5
Conic Surf (mt conic)
Datum curve 1
Datum curve 3
Datum curve 2
l.i_ a |io .i ai| .oi_ a| j.i |i| a:oi_ ||i ao| a|i
vi ao| a:oi_ a|. |||i o _|:i.
07/11/12
4
Approx Blend (mt xp x)
Datum curve 1
Datum curve 3
Datum curve 2
Approx curve 3
R1
.5
R
5
ng dng mt nng cao m hnh ha mt
sn phm PET ng nc gii kht
Mt cong t do (sculptured)
Mt cong t do c xy dng trn c s ca cc ng
cong t do nh Spline, Bezier, NURBS (s hc sau)
Mt li a din (facets)
Facets Versus NURBS
Faceted models consist of groups of
polygons (often triangles). In contrast,
most Computer-Aided Engineering
(CAE) models originate from Computer-
Aided Design (CAD) systems which
typically use continuous surface and
edge definitions based on NURBS.
CAE simulations then break down this NURBS representation into
facets by a process known as meshing. The mesh (or grid) is then
used as the basis to perform simulations such as Computational
Fluid Dynamics (CFD) and finite element analysis (FEA).
Facets modeling
Li th (coarse mesh) Li mn (fine mesh) Li trung bnh
(medium mesh)
Trong cng ngh to mu nhanh, dng chun ca file CAD c nh dng
dng STL (stereo lithography), kt ni gia phn mm CAD v my to mu 3D.
Cc file STL xp x cc b mt ca vt th (thng c v bng m hnh mt
cong NURBS) thnh cc li tam gic hoc t gic. n mn ca li cng cao th
chnh xc so vi m hnh gc cng cao.
u nhc im ca m hnh mt
u im
1. Trc quan hn m hnh khung dy.
2. C th t bng.
3. C th phn bit c cc phn t c bit trn mt nh cc
l trng.
4. Xc nh c giao ca cc b mt.
5. C th thc hin cc php tnh ton v din tch.
6. C th dng lm d liu lp trnh CAM thc hin gia cng
phay mt cong bng my CNC.
Nhc im
1. Ch m t lp bin ca i tng, khng c thuc tnh bn
trong.
2. Nu dng m hnh mt v tt c cc mt bao ca vt th
ri to thnh khi rn th tn nhiu thi gian hn so vi s
dng m hnh khi rn.
3. Phc tp hn m hnh khung dy, lng d liu ln hn.
07/11/12
5
M hnh khi rn
Phn ln cc phn mm CAD s dng 2
phng php m hnh ha khi rn:
1. M hnh khi rn theo php i s Boole
(CSG Contructive solid geometry)
2. M hnh khi rn theo mt bin kn
(Boundary representation)
3. M hnh Hybrid (dng c CSG v B-rep)
M hnh khi rn theo php i s
Boole (CSG)
Vt th c xy dng
trn c s phi hp cc
khi rn c bn nh
hp, cu, xuyn, t din,
chm, cn
Cc php ton i s
Boole nh php hi (),
giao () v php tr (-)
c dng thao tc
loi m hnh ny
M hnh khi rn theo CSG
Php hi (), tc
php cng
Php tr (-)
Php tr (-)
Php giao() ly phn
chung ca 2 vt th
c tnh v ng dng ca CSG
1. CSG c dng khi m t cc m hnh khi m
chnh xc ca m hnh l yu cu quan trng.
2. CSG rt ph bin v kh n gin khi xy dng m
hnh, mt m hnh phc tp c th c xy
dng t cc vt th n gin.
3. Nu cc vt th c tham s ha (c th thay
i kch thc v v tr), ngi thit k d dng
thay i v tr, kch thc v cc php ton i s
Boole c c m hnh mi.
c tnh v ng dng ca CSG
4. u im ca CSG l lun lun m bo m hnh
thc s l c (solid), hay cn c hiu l kn
nc. iu ny quan trng i vi mt s yu
cu trong ch to v phn tch tnh ton m
hnh
5. u im na ca CSG l d dng xc nh mt
im bt k cho trc c nm trong hay nm
ngoi khi rn. iu ny rt cn thit i vi cc
bi ton v kim tra s va chm ca cc vt th.
Cu trc ca m hnh khi rn theo CSG
Cc vt th
CSG thng
c cu trc
theo m hnh
cy nh phn
Cc l l cc
khi rn c s
v cc nt l
cc php ton
i s Boole
07/11/12
6
M hnh CSG trong Auto CAD
Menu v cc khi rn c bn
Cc php ton thao tc trn khi rn
M hnh khi rn theo mt bin kn
(Boundary representation B-rep)
Vt th c xy
dng t tp hp cc
mt bin to thnh
mt khng gian kn
Cc i tng to
nn B-rep bao gm:
Cc i tng
hnh hc
Cc i tng
topology
Hnh hc t-p (topology)
Hnh hc t-p l mt nhnh ca
lnh vc ton hc nghin cu v
tnh bo ton cc thuc tnh ca
i tng khi lm bin dng,
xon hoc ko dn i tng.
A circle is topologically
equivalent to an ellipse (into
which it can be deformed by
stretching) and a sphere is
equivalent to an ellipsoid
Mt s phn t thuc topology
Element Definition
Body Bc cao nht ca m hnh vt th
Face
L mt phn ca surface c bao quanh bi mt tp
hp cc loop.
Loop
L mt chui cc coedge ni vi nhau. Ni chung, loop l
kn, khng c khi nim im u im cui.
Coedge i din cho cch dng ca mt edge ca mt face
Edge L mt phn ca curve gii hn bi cc vertices.
Vertex
L bin ca mt edge. A Vertex tng ng vi mt point
trong khng gian 3D.
Face
A face is a region on a
single geometric surface.
Multiple faces can exist
on the same surface.
Topology
element
Surface
Surfaces can be planar, cylindrical, conical,
spherical, toroidal, or sculptured.
Cylindrical and conical surfaces can be
circular or elliptical.
07/11/12
7
Edge (cnh)
Edge l mt phn t topology 1-D c th dng
to thnh ng bao ca face. Edge do curve to
thnh v b gii hn bi 2 vertex
Nhiu edge c th tn ti trn cng mt curve,
tuy nhin hai edge trn cng mt body khng
th c chng ln nhau.
Topology
element
Edges trong khi rn
vertex
Vertex l thc th topology
(entity) khng c chiu (0-
dimensional) dng gii hn
cc edge. Ni chung, mt edge
c gii hn bi 2 vertex nh
hnh v bn.
Nu edge kn, c hai u ca
edge b gii hn bi cng m
vertex.
Cng c trng hp mt edge
c chiu di bng khng, gi l
null edge, ch b chn bi mt
vertex
Topology
element
Khi nim v manifold v non-
manifold
Mi im trn bin ca mt khi
rn manifold solid s chia khng
gian m hnh ra hai phn: min
trong khi rn v min ngoi khi
rn. Nu tn ti mt im trn
bin khng tha mn iu kin ny
th khi rn c coi l non-
manifold ti im .
Ni cch d hiu hn: Manifold c
ngha l vt rn c th gia cng
ch to c. Ngc li, Non-
Manifold th khng
A non-manifold object
Mt s v d v non-manifold
Lch s ca m hnh B-rep
The basic method for BREP was developed
independently in the early 1970s by both Ian C.
Braid in Cambridge (for CAD) and Bruce G.
Baumgart at Stanford (for computer vision).
Braid continued his work with the research solid
modeller BUILD which was the forerunner of
many research and commercial solid modelling
systems. Braid worked on the commercial
systems ROMULUS, the forerunner of Parasolid,
and on ACIS. Parasolid and ACIS are the basis for
many of today's commercial CAD systems.
07/11/12
8
So snh CSG v B-REP
So vi CSG, phng php ch s dng cc vt th c
bn v php ton i s Boole phi hp, m hnh B-
rep linh hot hn v c nhiu php thao tc hn.
CSG ch c dng cc phn mm CAD th h u v
n d thc hin hn. Ngy nay, B-rep c xem l la
chn tt nht cho cc h thng CAD hin i.
B-rep cng s dng cc php ton i s Boole, ngoi
ra cn s dng cc php n (extrusion ) hoc qut
(sweeping), vt cnh (chamfer), bo gc (fillet), to mt
nghing (drafting), xon (tweaking ), to v mng
(shelling) xy dng cc m hnh phc tp
u im ca B-rep
D dng biu din c cc m hnh khi rn
phc tp thn xe hoc v my bay m chng
khng th to ra bng cc phi hp cc khi
rn c bn nh cch ca CSG
D dng chuyn i m hnh khi rn B-rep
sang m hnh khung dy v bin ca B-rep c
nh ngha tng t nh khung dy
Cc thut ton ca B-rep tin cy v mnh hn
cc thut ton da trn CSG
Nhc im ca B-rep
i hi nhiu khng gian nh th n phi cha
cc phng trnh tng minh biu din lp
bin
Dong di v phc tp hn CSG
B-rep xp x (gn ng) (Faceted B-rep) to t
cc mt phng khng thch hp cho vic ch
to
Exact Vs Faceted B-rep Schemes
Exact B-rep: If the curved objects are represented by
way of equations of the underlying curves and sufaces
then the scheme is Exact B-rep.
Approximate or faceted B-rep :In this scheme of
boundary representation any curved face divided into
planar faces.
u im ca m hnh khi rn
1. Xc nh y cc thuc tnh khi lng
2. M hnh thit k r rng, trc quan, c bit cho
nhng ngi khng quen vi bn v 2D
3. D dng phn bit vng bn trong, trn mt v bn
ngoi vt th
4. m bo t ng xa cc ng khut
5. D t ng xy dng cc hnh chiu khi mun trnh
by bn v
6. Thay i thit k d dng hn
7. D dng chuyn d liu hnh hc sang cc phn mm
phn tch bng FEM
8. D dng trong lp rp v m phng chuyn ng, tnh
ton ng lc hc
Nhc im ca m hnh khi rn
1. Tiu tn nhiu b nh v i hi cu hnh
my tnh mnh,
2. Thao tc v tnh ton chm,
3. Kh trao i d liu gia cc file CAD 3D
tham s t cc phn mm CAD khc nhau.
02/04/13
1
Cc php bin i hnh hc Cc php bin i hnh hc
M u
thc hin vic bin i hnh hc mt cc d
dng, ngi ta s dng ta ng nht
(homogeneous coordinate)
Khi s dng ta ng nht biu din ta ca n
im trong khng gian 2 chiu, ta s dng ma trn
c kch thc [n 3]. V d, khi biu din 4 nh ca
mt t gic trong khng gian 2 chiu, ta dng ma
trn sau:
1 1
2 2
3 3
4 4
1
1
[ ]
1
1
tugiac
x y
x y
P
x y
x y



=



1 1 1
2 2 2
3 3 3
4 4 5
1
1
[ ]
1
1
tugiac
x y z
x y z
P
x y z
x y z



=



Khng gian 3 chiu
Cc php bin i thng dng
1. Php t l (Scale)
2. Php tnh tin (translate, bao gm move v copy)
3. Php quay (Rotate)
4. Php i xng (Mirror)
5. Php bin dng (Shear)
6. Php bin i tng hp
Phn nhm, mi nhm trnh by mt php bin i.
Nu nhm sau c dng kin thc nm nhm trc th khng cn gii thch li
kin thc ca nhm trc
Cho v d minh ha, tnh kt qu bng Excel hoc Matlab
Dng Solidworks hoc phn mm CAD khc kim tra php bin i
Php t l
dng ton hc, php bin t l ca mt im
P(x, y) thnh im P(x
*
, y
*
) c vit nh sau:
x
*
= x.S
x
y
*
= y.S
y
hoc dng ma trn trong h ta ng nht:
[ ][ ]
*
P P S =

* *
0 0
1 1 0 0
0 0 1
x
y
S
x y x y S


=



Php t l trong 3D
* * *
0 0 0
0 0 0
1 1
0 0 0
0 0 0 1
x
y
z
S
S
x y z x y z
S



=




[ ][ ]
*
P P S =

S c gi l ma trn bin hnh
Trong h ta ng nht ca khng gian 3 chiu,
ma trn bin hnh l mt ma trn 44 c dng:
0
0
0
A B C
D E F
G H I
J K L S






3 3 1 3
1 3 1 1




C dng
Php tnh tin 2D
Dng ton hc ca php tnh tin nh sau:
x
*
= x + T
x
y
*
= y + T
y
hoc dng ma trn trong h ta ng nht:
[ ][ ]
*
P P T =

[ ]
* *
1 0 0
1 1 0 1 0
1
x y
x y x y
T T


=



Nu khng dng h ta thun
nht, khng biu din c cng
thc tnh tin bng ma trn
[ ][ ]
*
P T P =

[ ]
* *
1 0
1 0 1 1
0 0 1
x
y
T
x y T x y


=



Ch : Khi hon v php nhn, ma trn
bin hnh b thay i
02/04/13
2
Php quay 2 chiu
P(x,y)
P
*
(x
*
,y
*
)
x
y
R

x= R.cos
y= R.sin
x
*
= R.cos (+) = R(cos cos - sin sin )
y
*
= R.sin (+) = R(sin cos + cos sin )
Vit di dng ma trn ta c:
* *
os sin 0
1 1 sin os 0
0 0 1
c
x y x y c




=




[ ][ ]
*
P P T =

Php quay trong khng gian 3 chiu
* * *
os sin 0 0
sin os 0 0
1 1
0 0 1 0
0 0 0 1
c
c
x y z x y z

=




1. Quay quanh trc Z
2. Quay quanh trc y
3. Quay quanh trc x
[ ]
os 0 sin 0
0 1 0 0
sin 0 os 0
0 0 0 1
Y
c
R
c

=



[ ]
1 0 0 0
0 os sin 0
0 sin os 0
0 0 0 1
X
c
R
c





=



Php quay quanh mt trc bt k
1. Tnh tin trc sao cho im u ca n trng vi gc ta ,
2. Thc hin php quay quanh trc x mt gc a n v mt
phng XZ,
3. Thc hin php quay quanh trc y mt gc a trc bt
k v trng vi trc z,
4. Quay quanh trc z mt gc mong mun,
5. p dng php quay ngc li quanh trc y,
6. p dng php quay ngc li quanh trc x,
7. p dng php tnh tin ngc li di trc bt k v v tr ban
u ca n trong khng gian.
Gi s cn quay quanh mt trc c xc nh bng mt vc-t i
qua hai im (x
1
, y
1
, z
1
) v (x
2
, y
2
, z
2
). Trnh t thc hin nh sau:
[ ] [ ][ ] [ ] [ ] [ ] [ ] [ ]
1
x y z y x
H T R R R R R T

=
Php quay quanh mt trc bt k
x
y
z
(0,0,0)
(a,b,c)
l
l

d
(0,b,c)
im chiu
im sau khi
quay
x
y
z
(0,0,0)
(a,b,c)
l
l
d
(0,0,l) (a, 0 ,d)
im chiu
Tnh gc quay quanh trc x Tnh gc quay quanh trc y
2 2
sin
b b
d
b c
= =
+
2 2
os
c c
c
d
b c
= =
+
sin
os
a
l
d
c
l

=
=
2 2 2 2
2 2 2
l a b c
d b c
= + +
= +
Bi tp
Quay mt hnh hp ch nht c cnh l a, c tm nm trng gc ta
ton cc, cc cnh song song vi h trc ta Oxyz, mt gc 45
quanh mt trc c xc nh bng mt vc-t i qua hai im (x
1
, y
1
, z
1
)
v (x
2
, y
2
, z
2
),
trong x1 = 10, x2 = 10
Y1=15+0.5*s th t trong danh sch mn hc
Y2=25+0.5*s th t trong danh sch mn hc
z1=5+0.5*s th t trong danh sch mn hc
z2=20+0.5*s th t trong danh sch mn hc
a = 50+0.5*s th t trong danh sch mn hc
V v ghi kch thc hnh hp ch nht ti v tr ban u bng
phn mm Solidworks, v trc quay v v hnh hp ch nht sau
khi quay n v tr mi. Dng Measure xc nh ta ta 8 nh
ca hnh ch nht ti v tr mi (khi measure mi nh (vertex), hy
copy mn hnh sang file MS Word)
S dng cng thc ca php quay tnh ta ca 8 nh ca
hnh hp ti v tr mi (Vit phng trnh, sau dng MS Excel
hoc Matlab thao tc nhn cc ma trn)
Php i xng
Dng tng qut ca php i xng qua trc x, y hoc
gc ta nh sau:
Trong :
Nu i xng qua trc x th a = 1, b = -1 (v ch c ta
theo trc y l i du)
Nu i xng qua trc y th a = -1, b = 1
Nu i xng qua gc ta th a = -1, b = -1
[ ]
0 0
0 0
0 0 1
a
M b


=



02/04/13
3
Php i xng qua ng thng 2D bt k
1. Tnh tin ng thng mt on C a i qua gc ta
2. Quay ng thng mt gc n trng vi trc x
3. Ly i xng i tng qua trc x
4. Quay ngc ng thng mt gc - v v tr ban u
5. Tnh tin ng thng v v tr ban u
1 0 0 cos sin 0 1 0 0 cos sin 0 1 0 0
[ ] 0 1 sin cos 0 0 1 0 sin cos 0 0 1
0 0 1 0 0 1 0 0 1 0 0 1 0 0 1
T C C




=



[ ][ ]
*
P T P =

Ch : Ma trn bin hnh [T] ang vit theo dng cng thc
Sau khi nhn cc ma trn
thnh phn ta c:
os2 sin2 sin2
[T]= sin2 os2 (cos2 1)
0 0 1
c C
c C




+



Php bin dng
Php bin dng thay i gi tr cc ta bng
cch thm vo mt hm tuyn tnh. Ma trn bin
hnh tng qut c dng sau:
[ ]
1 0
1 0
0 0 1
sh
b
T c


=



Xt trng hp c bit: bin dng theo trc x
(ch nh hng n ta x), mt im P(x, y,
1) s tr thnh P
*
(x+sh
x
*y, y, 1). Biu din di
dng ma trn nh sau:
Tng t, nu bin dng theo
trc y, im P(x, y, 1) s tr thnh
P
*
(x, y+sh
y
*x, 1)
[ ]
1 0 0
1 0
0 0 1
sh x
x
T sh


=



[ ]
1 0
0 1 0
0 0 1
y
sh y
sh
T


=



Php quay gc ta dng ma trn
Xt hai h ta XYZ v UVW chuyn ng quay
tng i quanh gc O trng nhau.
Gi i
x
, j
y
, k
z
v i
u
, j
v
, k
w
ln lt l cc vc t n v
trn cc trc ca hai h ta XYZ v UVW. Nu mt
im M trong h ta XYZ c biu din bng
vc-t
th trong h ta UVW c biu din bng vc-t
( , , )
T
xyz x y z
r r r r r =
w
( , , )
T
uvw u v
r r r r r =
Php quay gc ta dng ma trn
Nu vit di dng ma trn
w
w
w w
.
x x u x v x u
y y u y v y v
z z u z v z
r i i i j i k r
r j i j j j k r
r k i k j k k r


=



[ ]
w
w
w
x u x v x
y u y v y
z u z v z
i i i j i k
R j i j j j k
k i k j k k


=



[ ]
os( , ) os( , ) os( , w)
os( , ) os( , ) os( , w)
os( , ) os( , ) os( , w)
c x u c x v c x
R c y u c y v c y
c z u c z v c z


=



[ ]
1
w
.
u x
v y
z
r r
r R r
r r

02/04/13
1
M t ng cong M t ng cong
Cc phng php biu din hnh hc
ng cong
1. Biu din bng ma trn cc im (chui im)
2. S dng cc phng trnh gii tch dng a
thc bc n
1
1 1 0
0
( ) ...
n
n n n
n n i
i
p x a x a x a x a a x

=
= + + + + =

Hm a thc rt thun li cho vic tnh ton
bng my tnh, d dng vi phn hay tch phn
Cc dng phng trnh ng cong
1. Phng trnh tng minh; y =f(x,y,z)
2. Phng trnh n: f(x,y) =0 (xt ng cong 2D)
3. Phng trnh tham s: x=x(t), y=y(t), z=z(t)
V mt l thuyt c th s dng bt k dng ton hc
no ca ng cong m t ng cong trong cng
ngh CAD. Dng phng trnh tham s c dng
nhiu nht. Mi dng c mt s thun li v kh khn
trong mt s trng hp:
- Dng no no d xc nh mt im c nm trn
ng cong khng?
- Dng no cho php nhanh chng xc nh ta cc
im trn ng cong?
Bin i dng tham s sang dng n
Gi s phng trnh tham s ca mt phn
on ng cong c dng:
x=x(t); (a) y=y(t) (b)
c bin i sang dng n f(x,y) = 0
Cch 1: S dng phng php th i vi
trng hp n gin (bc nht hoc bc 2)
Cch 2: S dng phng php trong c s
dng tch chp hai a thc (p dng cho bc 3
hoc bc 4)
Phn loi ng cong
Phn loi theo phng
php xy dng:
1. ng cong chnh
xc (cc ng cong
conic)
2. ng cong ni suy
(interpolation)
3. ng cong xp x
(approximation)
Phn loi theo tn gi:
1. ng cong tham s
bc 3 (ng cong
Ferguson )
2. ng cong Spline
3. ng cong Bezier
4. ng cong B-spline
5. ng cong hu t
(NURBS)
ng cong conic
Dng ng
conic
Dng tham s Dng n
ng trn
Elip
Parapol
Hypepol
cos x r =
sin y r =
2 2 2
x y r + =
cos x a =
sin y b =
2 2
2 2
1
x y
a b
+ =
2
x a =
2 y a =
2
4 y ax =
cosh x a =
sinh y b =
2 2
2 2
1
x y
a b
=
02/04/13
2
ng cong a thc tham s bc 3
ng cong tham s bc 3 c dng:
Trong P(t) l mt im trn ng cong.
Khai trin v tch ra thnh 3 thnh phn
trong khng gian ta c:
x(t) = a
3x
t
3
+ a
2x
t
2
+ a
1x
t + a
0x
y(t) = a
3y
t
3
+ a
2y
t
2
+ a
1y
t + a
0y
z(t) = a
3z
t
3
+ a
2z
t
2
+ a
1z
t + a
0z
3
0
( )
i
i
i
P t a t
=
=

P(t)
x
y
y
O
ng cong a thc tham s bc 3
Phng trnh trn c 4 h s a cn xc nh,
c th tm bng cch dng cc iu kin bin:
i qua hai im cho trc (2 phng trnh)
Cc vec-t tip tuyn ti im u v im
cui xc nh (2 phng trnh)
3
0
( )
i
i
i
P t a t
=
=

P1
P0
Tip tuyn ti P1
Tip tuyn ti P0
ng cong a thc tham s bc 3
Dng ma trn
Sau khi s dng iu kin bin, tm c:
3
2 3 2
1
0
( ) [ 1]
a
a
P t t t t
a
a
(
(
(
=
(
(

0
1
2
3
(0)
'(0)
3 (0) 3 (1) 2 '(0) '(1)
2 (0) 2 (1) '(0) '(1)
a P
a P
a P P P P
a P P P P
=

= +

= + +

Suy ra:
3 2
2 2 1 1 (0)
3 3 2 1 (1)
( ) [ 1]
0 0 1 0 '(0)
1 0 0 0 '(0)
P
P
P t t t t
P
P
( (
( (

( (
=
( (
( (

V ng cong tham s bc 3 bng
cch no?
Cho tham s t chy t 0 n 1
3 2
2 2 1 1 (0)
3 3 2 1 (1)
( ) [ 1]
0 0 1 0 '(0)
1 0 0 0 '(0)
P
P
P t t t t
P
P
( (
( (

( (
=
( (
( (

Ma trn Hermite
(khng i)
Ma trn
h s
hnh hc
(G)
ng cong Spline bc 3
ng cong Spline bc c biu din bng
mt a thc bc 3 c o hm bc 2 lin tc ti
cc im ni chung gia cc phn on
Phng trnh tham s ca ng Spline bc 3
cho mi phn on c dng nh phng trnh
tham s bc 3 chnh tc
3 2
2 2 1 1 (0)
3 3 2 1 (1)
( ) [ 1]
0 0 1 0 '(0)
1 0 0 0 '(0)
P
P
P t t t t
P
P
( (
( (

( (
=
( (
( (

ng cong Spline bc 3
ng cong spline phi tha mn tnh lin tc
ca o hm bc hai
o hm bc hai ca im cui phn on trc
phi bng o hm bc hai ca phn on sau.
Nh rng buc ny, ngi ta xc nh c cc
tip tuyn ti cc im nt ca ng Spline
Phn on i-1
Phn on i
P
i
P
i
P
i
P
i+1
P
i+1
P
i+1
P
i-1
P
i-1
P
i-1
02/04/13
3
ng cong Spline, xc nh cc tip tuyn
Sau khi xc nh c cc tip tuyn P
i
ti
cc im nt, thay cc gi tr ny vo phng
trnh tham s trn tng phn on
3 2
2 2 1 1 (0)
3 3 2 1 (1)
( ) [ 1]
0 0 1 0 '(0)
1 0 0 0 '(0)
P
P
P t t t t
P
P
( (
( (

( (
=
( (
( (

1
0 0
1 2 0
2 3 1
2 1 3
1 1
' ' 1 0 . . . .
' 3( ) 1 4 1 0 . .
' 3( ) 0 1 4 1 0 .
. . . . . . . .
' 3( ) . . 0 1 4 1
' ' . . . . 0 1
m m m
m m
P P
P P P
P P P
P P P
P P

( ( (
( ( (

( ( (
( ( (
=
( ( (
( ( (
( ( (
( ( (

Sau khi xc nh c cc tip tuyn P
i
ti cc im nt, thay
cc gi tr ny vo phng trnh tham s trn tng phn on
Trng hp ng cong Spline t nhin
(hai tip tuyn ti hai im u v cui P
0
v P
m-1
bng 0)
1
0 1 0
1 2 0
2 3 1
2 1 3
1 1 2
' 3( ) 2 1 . . . .
' 3( ) 1 4 1 0 . .
' 3( ) 0 1 4 1 0 .
. . . . . . . .
' 3( ) . . 0 1 4 1
' 3( ) . . . . 1 2
m m m
m m m
P P P
P P P
P P P
P P P
P P P

( ( (
( ( (

( ( (
( ( (
=
( ( (
( ( (
( ( (
( ( (


3 2
2 2 1 1 (0)
3 3 2 1 (1)
( ) [ 1]
0 0 1 0 '(0)
1 0 0 0 '(0)
P
P
P t t t t
P
P
( (
( (

( (
=
( (
( (

S dng Excel tnh ton
v xy dng ng cong Spline
1. Nhp ma trn ta cc im nt
2. Nhp ma trn h s ca phng trnh xc
nh tip tuyn
3. Tnh ma trn ct v phi ca phng trnh
tnh tip tuyn
4. Tnh ma trn ct cc tip tuyn bng lnh
nhn ma trn Mmult(Array1, Array2)
S dng Excel tnh ton
v xy dng ng cong Spline
S dng Excel tnh ton
v xy dng ng cong Spline
5. Tnh ta ca ca cc phn on spline
S dng Excel tnh ton
v xy dng ng cong Spline
6. V th (v ng Spline)
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
0 1 2 3 4 5 6 7
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
0 2 4 6 8
V d ng cong Spline t do i qua 4 im nt cho trc
02/04/13
4
ng cong Bezier
ng cong Bezier l l ng cong xp x cc
im cho trc ch khng i qua chnh xc cc
im ny nh cch ca cc ng con ni suy
Cho php ngi thit k mm do hn.
Thng c ng dng trong thit k v -t,
my bay v tu thy.
ng cong ny do P. Bezier lm vic cho cng ty
xe hi Citroen nghin cu t nhng nm 1960
V
0
V
1
V
2
V
3
ng cong Bezier
Phng trnh tng qut ca ng cong
Bezier c n+1 im iu khin (V
0
, V
1
,, V
n
)
nh sau:
Trong V
i
l cc im iu khin
Hm Bi,n gi l hm c s ca ng cong
Bezier, cn gi l a thc Bernstein
Trong n l bc ca a thc v
,
0
( ) ( )
n
i i n
i
P t V B t
=
=

1
,
( ) (1 )
i i n
i n n
B t C t t

=
!
!( )!
n
i
n
C
i n i
=

ng cong Bezier bc 2 v bc 3
Bc 2 i qua 3 im iu khin
P(t) = (1-t)
2
V
0
+2t(1-t)V
1
+ t
2
V
2
Bc 3 i qua 4 im iu khin
P(t) = (1-t)
3
V
0
+3t(1-t)
2
V
1
+3t
2
(1-t)V
2
+ t
3
V
3
0
2
1
2
1 2 1
( ) [ 1] 2 2 0
1 0 0
V
P t t t V
V
( (
( (
=
( (
( (

0
1 3 2
2
3
1 3 3 1
3 6 3 0
( ) [ 1]
3 3 0 0
1 0 0 0
V
V
P t t t t
V
V
( (
( (

( (
=
( (
( (

Dng ma trn
Dng ma trn
Tnh cht ca ng cong Bezier
1. i qua im iu khin u v cui
2. Tip tuyn vi hai on thng ni hai im
u tin v cui cng
Tnh cht ca ng cong Bezier
3. Nm hon ton trong a gic to bi cc nh
ca cc im iu khin
Tnh cht ca ng cong Bezier
4. ng cong Bezier thay i theo v tr mt
im iu khin cc b
02/04/13
5
Tnh cht ca ng cong Bezier
5. ng cong Bezier thiu s iu khin cc b
(tc l c s iu khin ton cc)
Tnh cht ca ng cong Bezier
6. Bc ca ng cong Bezier ph thuc vo s
im iu khin
gia bc ca ng cong thp, c th lin
kt nhiu phn on li vi nhau
ng cong B-spline
Khc phc c 2 nhc im ca ng cong
Bezier (bc cao v tnh iu khin ton cc)
1. Hm c s to ra ng cong a thc tham
s tng on ring l thng qua mt s im
iu khin
2. Bc ca a thc c chn c lp vi s lng
cc im iu khin (bng chnh bc ca hm c
s), n quyt nh bc ca ng cong B-spline
3. Cc ng cong B-spline c th iu khin cc
b (ch mt vi phn on b nh hng)
ng cong B-spline
Phng trnh tng qut ca ng cong B-
spline c n+1 im iu khin (V
0
, V
1
,, V
n
)
nh sau:
Trong V
i
l cc im iu khin
Hm N
i,k
gi l hm c s bc k-1
K l cp v k-1 l bc ca ng B-spline
,
0
( ) ( )
n
i k i
i
P t N t V
=
=

1
,1
, , 1 1, 1
1 1
1 if t t
( )
0
( ) ( ) ( )
i i
i
i i k
i k i k i k
i k i i k i
t
N t
nguoc lai
t t t t
N t N t N t
t t t t
+
+
+
+ + +

=

= +

Dng ma trn ca ng cong B-spline
ng B-spline bc 2 u (s dng 3 im
iu khin)
ng B-spline bc 3 u (4 im iu khin c
nhn vi hm c s, mi phn on c chung 3 im iu
khin vi phn on k tip)
1
2
1
1 2 1
1
( ) [ 1] 2 2 0
2
1 1 0
i
i i
i
V
P t t t V
V

+
( (
( (
=
( (
( (

1
3 2
1
2
1 3 3 1
3 6 3 0 1
( ) [ 1]
3 0 3 0 6
1 4 1 0
i
i
i
i
i
V
V
P t t t t
V
V

+
+
( (
( (

( (
=
( (
( (

Tnh cht ca ng cong B-spline
ng cong B-spline c th thay i hnh
dng cc b khi thay i im iu khin
Hnh dng ca ng cong B-spline cn ph
thuc v cc vec-t nt t trong hm c s
(u/tun hon v khng u/khng tun
hon)
ng cong Beizer l mt trng hp con ca
ng cong B-spline khng u khi cc vc-t
nt = [0 0 0 1 1 1]
02/04/13
6
ng cong B-spline
ng cong thay i thi thay i vc-t nt
ng cong Bezier l trng
hp c bit ca ng cong
B-spline khng u
ng cong B-Spline khng u vi s
thay i cc b
ng cong hu t
Phng php ni suy, xp x v phi hp c
ng cong t do v cc ng conic l s dng
cc hm a thc hu t (rational)
Nh vo cc trng s w, c th chnh dng ng
cong theo mong mun
Bezier B-spline
Khng hu t
Hu t
,
0
( ) ( )
n
i n i
i
P t B t V
=
=
,
0
( ) ( )
n
i k i
i
P t N t V
=
=

,
0
,
0
( )
( )
( )
n
i n i i
i
n
i n i
i
B t wV
P t
B t w
=
=
=

,
0
,
0
( )
( )
( )
n
i k i i
i
n
i k i
i
N t wV
P t
N t w
=
=
=

ng cong Bezier hu t
Trong biu thc hu t ni trn, nu cc trng
s u bng mt th ng cong tr thnh
khng hu t.
,
0
,
0
( )
( )
( )
( )
( )
n
i n i i w
i
n
i n i
i
B t wV
P t
P t
w t
B t w
=
=
= =

Cc trng s cung cp thm

mt bc t do cho vic thit
k ng cong (Khi trng s
w
i
ln th ng cong b ko
v im V
i
)
ng cong B-spline hu t khng u
(NURBS Non uniform Rational B-spline)
NURBS l ng cong c s dng ph bin
v n bao gm c ng cong Bezier v ng
cong B-spline
NURBS biu din nhiu dng ng cong khc
nhau trong c c cc ng conic
,
0
,
0
( )
( )
( )
n
i k i i
i
n
i k i
i
N t wV
P t
N t w
=
=
=

u im ca ng cong NURBS
iu chnh hnh dng ca ng cong,
ngoi vic iu chnh ta cc im iu
khin, c th th thay i trng s wi
Cc ng conic c th c biu din chnh
xc bng phng trnh ng cong NURBS
cc ng cong conic, Bezier v B-spline u
c th chuyn v ng cong NURBS tng
ng.
V d v ng trn bng cch s
dng ng cong NURBS
Cp ng cong: k=3
S im iu khin: 9 (tc n =8)
Cc im iu khin tng ng (v d) l: V0(1,0),
V1(1,1), V2(0,1), nh hnh v
Cc trng s tng ng vi cc im iu khin: w
={1,2/2,1, 2/2,1, 2/2,1}
Cc vc-t nt: m= n+k = 8+3 =11
t = [0 0 0 1 1 2 2 3 3 4 4 4]
02/04/13
7
Phn cp ng cong trong phn mm
Maxsurf
Ty chn ng cong trong phn mm
Maxsurf
Ni suy Lagrange
Cho mt dy cc im trn mt phng (x
0,
y
0
),
(x
1,
y
1
), (x
2,
y
2
), (x
n,
y
n
), ng cong ni suy
bc n-1 i qua n im nh sau:
Trong
,
0
n
n i i n
i
f y L
=
=

0 1 1 1
,
0 1 1 1
( )( )...( )( )...( )
( )
( )( )...( )( )...( )
i i n
i n
i i i i i i i n
x x x x x x x x x x
L x
x x x x x x x x x x
+
+

=

Bi tp nhm
Chia lp thnh 5 nhm:
1. Nhm 1 xy dng v v ng cong tham s bc 3 i qua 2 im c
2 rng buc tip tuyn hai u (s dng excel hoc matlab). S
liu c th t cho.
2. Nhm 2 xy dng ng cong Spline t nhin i qua 4 im (s
dng excel hoc matlab). S liu c th t cho.
3. Nhm 3 xy dng v v ng cong Bezier bc 3 theo 4 im
control (s dng excel hoc matlab). S liu c th t cho. iu
chnh v tr ca 1 trong 2 im gia, tnh ton li ng cong v so
snh 2 ng cong trn cng mt th
4. Nhm 4 xy dng ng cong B-Spline bc 3 theo 4 im control
(s dng excel hoc matlab). S liu c th t cho.
5. Nhm 5 xy dng v v ng ni suy Lagrange i qua 5 im t
cho (s dng excel hoc matlab).
6. Nhm 6: V th ni suy spline bc 3 ca ng cong y=sin(x) i
qua 5 im x=0, x= /2, x= , x= 3/2 v x=2 x= , sau so snh
vi kt qu ni suy ca excel trn cng mt th. Lp bng tnh sai
s gia ni suy v kt qu chnh xc ca hm ti 50 im chia u
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