Tính Toán Thiết Kế Robot

TNH TON THIT K ROBOT
GVHD: INH KHC TON Page 1

MC LC
1. Phn tch la chn cu trc 2
a. Khi qut v robot 2
b. Cu trc ng hc robot 4
c. Cc phng n thit k cu trc ph hp cho cc khu khp 7
d. Phn tch, chn, thit k cu trc c chn 8
2. Gii bi ton ng hc 12
a. Cho 1 quy lut chuyn ng ca cc khu robot 14
b. Tnh vn tc im tc ng cui E, vn tc gc khu thao tc 15
c. th theo t 16
d. Xy dng mt quy lut chuyn ng thao tc ca robot 18
e. Kho st bi ton ng lc hc ngc 19
3. Tnh ton lc 20
4. Tnh ton ng lc hc 21
5. Thit k h dn ng cho khp th nht 22
6. Thit k h thng iu khin 23
a. Chn lut iu khin ph hp 24
b. S dng th vin SimMechanis vi m hnh robot Robot c xut ra 25
t solidwork


1. Phn tch la chn cu trc
a. Khi qut v robot
Cng vi s pht trin khng ngng ca cc nghnh khoa hc k thut c
bit l lnh vc c kh, in t iu khin v tin hc lm cho robot ngy cng c
nhng chc nng gn ging nh con ngi nhiu hn, trong robot c cc b phn
nh c cu chp hnh, h dn ng v h thng iu khin. C cu chp hnh cng
nh cnh tay chn con ngi, h dn ng chnh l cc c bp v c tri tim con
ngi tng ng vi ng c t trong robot vn hnh, h thng iu khin l b
no iu khin mi hot ng ca robot.

Cuc sng ngy cng vn minh hin i, mc sng ca ngi dn ngy cng c
nng cao, i hi phi nng cao nng sut v cht lng ca sn phm. V vy cng
No ( h thng iu khin)
Bp tht, huyt qun
(Cc b truyn
chuyn ng)
Tri tim( ng c)
Xng ( Khung
robot)
Mt, mi, tai
(Cc senser cm
ng)
Tay (Bn kp,
mang dng c gia
cng)
Da (V bc
robot)
Khp (Cc
khp ng
robot)


phi ng dng rng ri cc phng tin t ng ho vo sn xut nn cng tng
nhanh nhu cu v ng dng robot to ra cc h thng sn xut t ng v linh
hot.Robot c nhng c im ni tri l:
+ C th thc hin cng vic mt cch bn b, khng bit mt mi nn cht lng sn
phm c gi n nh. Gi thnh sn phm h do gim c chi ph cho ngi lao
ng. nc ta trong nhng nm gn y nhiu doanh nghip, khon chi ph v
lng bng cng chim t l kh cao trong gi thnh sn phm, cng cn phi ng
dng cng ngh robot vo dy chuyn sn xut.
+ Nht l nhiu ni hin nay cng cn ng dng cng ngh robot ci thin iu
kin lao ng v trong thc t sn xut ngi lao ng phi lm vic sut bui trong
mi trng bi bm, m t, n oqu mc cho php nhiu ln. Thm ch phi
lm vic trong mi trng c hi, nguy him n sc kho con ngi.
+ Mt khc, khi p dng cng ngh robot vo sn xut ta cng cn lu v phn tch
k ton b h thng sn xut sao cho ph hp vi cc nguyn cng v ph hp vi
tnh hnh sn xut ca nh my. Cn xt n y cc chi ph ph v hiu qu
mang li cho ton b h thng. Khi xc nh a robot vo h thng sn xut th
cng cn phi xt xem kh nng liu robot c thay th c hay khng v c hiu
qu hn khng. V trong thc t sn xut cho thy xu hng thay th hon ton
bng robot nhiu khi khng hiu qu bng vic gi li mt s cng on m cn
phi c s kho lo ca con ngi.
+ K thut robot c u im quan trng nht l to nn kh nng linh hot ha sn
xut. M trong k thut robot v my vi tnh ng vai tr quan trng trong
vic to ra cc dy chuyn t ng linh hot.V vy trong nhng nm gn y
khng nhng ch cc nh khoa hc m c cc nh sn xut tp trung s ch
vo vic hnh thnh v p dng cc h sn xut linh hot.
So vi lc mi ra i, ngy nay cng ngh robot c nhng bc pht trin
vt bc. c bit l vo nhng nm 60 ca th k trc, vi s gp mt ca my
tnh. giai on u ngi ta rt quan tm n vic to ra nhng c cu tay my
nhiu bc t do, c trang b cm bin thc hin nhng cng vic phc tp.
Ngy cng c nhng ci tin quan trng trong kt cu cc b phn chp hnh, tng


tin cy ca cc b phn iu khin, tng mc thun tin v d dng khi lp trnh.
Tng cng kh nng nhn bit v x l tn hiu t mi trng lm vic m rng
phm vi ng dng cho robot. Trong tng lai s lng lao ng c thay th ngy
cng nhiu v mt mt gi thnh robot ngy cng gim do mt hng vi in t lin
tc gim gi ng thi cht lng lin tc tng. Mt khc chi ph v lng v cc
khon ph cp cho ngi lao ng ngy cng tng. Robot ngy cng vn nng hn
c th lm c nhiu vic trn cc dy chuyn.
Cng on lp rp thng chim t l cao so vi tng thi gian sn xut trn
ton b dy chuyn. Cng vic li i hi phi cn thn, nh nhng tinh t v chnh
xc. Nn nu l cng nhn th cn phi th c tay ngh cao v lm vic n iu,
cng thng. Robot c mt nhiu trn cc cng on lp rp phc tp do c
tha hng k thut cm bin, k thut tin hc vi nhng ngn ng lp trnh bc
cao.
Robot t hnh cng s pht trin mnh trong tng lai, c th i c bng
chn thch hp vi mi a hnh v d nh c th t leo bc thang Vic to ra
cc c cu chp hnh c kh va bn vng, nh nhng chnh xc v linh hot nh
chn tay ngi l i tng nghin cu ch yu.K thut robot cng tng bc p
dng cc kt qu nghin cu v tr khn nhn to v a vo ng dng trong cng
nghip. Ci tin v b xung cc modul cm bin v cc modul phn mm ph hp
c th ci tin v thng minh ho nhiu loi robot. iu quan trng l cc c cu
chp hnh ca robot phi hot ng chnh xc.
b. Cu trc ng hc robot
Ta c th khi qut nh ngha robot theo cch nhn ca c hc l mt chui
ng, mi khu c ghp vi nhau bi cc khp ni, hot ng linh hot nh h
dn ng v c iu khin bng h thng iu khin.Di y l mt s hnh
robot lin tc c ng dng nhiu trong cc lnh vc:
+ Trong gia cng c kh: thng s dng trong cc my hn t ng, my khoan,
trong cc dy truyn lp rp, vv


+ Trong dy truyn sn xut: Tham gia vo mt s dy truyn sn xut nh gia cng,
phun sn, ng gi bao b, vv
+ Trong vn ti thng dng bc xp hng ha .

Hnh 1.4 robot Kuka

Hnh 1.5 Laser Robotic. Hnh 1.2 Robot Hipo

Trong bi tp ln ny em xin chn m hnh robot Scara 4 bc t do RRTR.
SCARA l vit tt ca Selectively Compliance Assembly Robot Arm. Nh ci tn
ca n, robot tun th ch hng dn c th (X v Y) v c cao theo hng khc
(Z), v do , c thit k ch yu cho t ng ha ca cng trnh lp rp. Hin
nay, n c s dng trong cc nghnh sn xut khc nhau nh l mt robot l
rt hiu qu khng ch trong vic lp rp cc cng trnh nhng cng c trong thnh
phn mang cng trnh (chn & t cc tc phm) v tc xut sc ca n. Thng
Hnh 1.3 Robot Puma


thng robot scara loi RRTR c thc hin dn ng bi ng c bc,cc khp
ng thng song song nhau.
Robot scara G10 ca hng espon

1.2 Bc t do ca robot
C cu tay ca robot phi c cu to sao cho khu cui phi c v tr v
theo mt hng nht nh no v d dng di chuyn d dng trong vng lm
vic. Mun vy c cu tay ca robot phi t c mt s bc t do chuyn ng.
tnh s bc t do ca robot th ta c nhiu cch tnh di y ta a ra cch tnh
da vo nh l Gruebler. Theo Gruebler th bc t do f c tnh theo cng thc:
0
1
.( 1) ( )
g
i
i
f n f f
=
=
(1.1)
Trong :
+ f : L s bc t do ca c cu.
+ : Bc t do ca mt vt rn khng chi lin kt trong khng gian lm vic ca
robot ( = 3 ng vi khng gian lm vic trong mt phng, = 6 ng vi khng
gian lm vic trong khng gian).
+ n : S khu ( k c gi c nh).
+
i
f : S bc t do ca khp th i.
+ g : Tng s khp ca c cu.
+
0
f : S bc t do tha


Thng thng robot 3 bc t do m bo c yu cu v khng gian thao tc.
Theo yu cu t ra ca bi ton, robot c hng kp vt ty nn ta tng thm
1 bc t do m bo linh hot v hng thao tc ca robot cho ph hp vi
c im lm vic ca robot vn chuyn.

c. Cc phng n thit k cu trc ph hp cho cc khu khp
Theo yu cu u bi, robot vn chuyn c hng thao tc ty nn ta chn 4
bc m bo linh hot khi hot ng.
Sau y l mt s cu trc robot ra

Hnh 1.1. Cu trc 1

Hnh 1.2. Cu trc 2


Hnh 1.3 Cu trc 3

Hnh 1.4. Cu trc 4

d. Phn tch, chn, thit k cu trc c chn
Ta la chn s dng cu trc 4 do cu trc ny c khu 3 chuyn ng tnh tin
m bo linh hot v phng chiu hot ng, khu 4 chuyn ng quay quanh
trc khu 3 nn tay kp robot c kinh hot v hng tc ng khi cm nm vn
chuyn.


Khu

Khu 1


Khu 2

Khu 3


Khu 4 v ty kp

Tng Th robot


2. Gii bi ton ng hc
a. Cho 1 quy lut chuyn ng ca cc khu robot
a1= 25cm, a2=20 cm, d3= 20cm
Cho
1
= ,
2
= ,
4
= , d
3
= 0.1t

Xc nh ma trn chuyn v thnh phn m t v tr ca khu th i so vi khu th
i-1
Dng tng qut:
os sin cos sin sin cos
sin os cos os sin sin
0 sin cos
0 0 0 1
i i i i i i i
i i i i i i i
i
i i i
c a
c c a
A
d
u u u u
u u u u
o o (
(
o o
(
=
( o o
(



Quy c vit tt :
( ) ( )
ij ij
os ; sin ; os ; sin
i i i i i j i j
C c S C c S u u u u u u = = = + = +

Ta c bng thng s Danevit- Hatenberg ca robot scara:
Bng h ta Danevit-Hatenberg
u d A o
1
*
1
u 0 a
1
0
2
*
2
u 0 a
2
t
3 0
*
3
d 0 0
4
*
4
u
4
d 0 0

Cc ma trn A
i

1 1 1 1
1 1 1 1
1
0
0 a
0 0 1 0
0 0 0 1
C S a C
S C S
D
(
(
(
=
(
(

2 2 2 2
2 1 2 2
2
0
0
0 0 1 0
0 0 0 1
C S a C
S C a S
D
(
(
(
=
(
(

3
3
1 0 0 0
0 1 0 0
0 0 1
0 0 0 1
D
d
(
(
(
=
(
(

4 4
4 4
4
4
0 0
0 0
0 0 1
0 0 0 1
C S
S C
D
d
(
(
(
=
(
(

Vi quy lut ca cc khu nh cho ta tnh c



Ma trn chuyn v thun nht m t hng v v tr ca cc khu:
Khu 1 so vi khu c s:
1 1 1 1
1 1 1 1
1 1
0
0
0 0 1 0
0 0 0 1
C S a C
S C a S
T D
(
(
(
= =
(
(

Khu 2 so vi khu c s:
12 12 1 1 2 12
12 12 1 1 2 12
2 1 2
0
0
.
0 0 1 0
0 0 0 1
C S a C a C
S C a S a S
T D D
+ (
(
+
(
= =
(
(

Khu 3 so vi khu c s


12 12 1 1 2 12
12 12 1 1 2 12
3 2 3
3
0
0
.
0 0 1
0 0 0 1
C S a C a C
S C a S a S
T T D
d
+ (
(
+
(
= =
(
(

Khu 4 so vi khu c s
12 4 12 4 12 4 12 4 1 1 2 12
12 4 12 4 12 4 12 4 1 1 2 12
4 3 4
3 4
0
0
.
0 0 1
0 0 0 1
C C S S S C C S a C a C
S C C S C C S S a S a S
T T D
d d
+ + (
(
+
(
= =
(
(

Vy ta im E c dng:
(0)
1 1 2 12 E
x a C a C = +

(0)
1 1 2 12 E
y a S a S = +

(0)
3 4 E
z d d =

Vi thng s quy lut cc khu cho ta tnh c:
Ta tnh c cc ma trn:









4(1,1) 4(1, 2) 4(1, 3) 4(1, 4)
4(2,1) 4(2, 2) 4(2, 3) 4(2, 4)
4
4(3,1) 4(3, 2) 4(3, 3) 4(3, 4)
4(4,1) 4(4, 2) 4(4, 3) 4(4, 4)
T T T T
T T T T
T
T T T T
T T T T
| |
|
|
=
|
|
\ .
dfadsfadfaf



1 1 1 1 1 1 1
cos sin( ) cos sin( )
6 6 3 6 6 3 3 1 1
4(1,1) cos sin( )
3 3 1 1 1 1 1 1 1
sin sin( ) sin sin( )
6 6 3 6 6 3 3
1 1 1 1 1 1
cos sin( ) sin sin( )
6 3 6 6 3 3
t t
T t
t t
t t
t t t t t t t
t t t
t t t t t t t
t t t t t t
( | | | |
+ + +
| | (
\ . \ . | |
(
= +
|
(
\ . | | | |
+ + +
( | |
\ . \ .
| | |
+ + +
|
\ .
+
1 1
sin sin( )
3 3 1 1 1 1 1 1 1
sin sin( ) s sin( )
6 6 3 6 6 3 3
t
t co t
t t t
t t t t t t t
( |
+
| (
\ . | |
(
+
|
(
\ . | | | |
+ + +
( | |
\ . \ .

4(1, 3) 0 T =

1 1 1 1 1 1 1
4(1, 4) 20cos sin( ) cos sin( )
6 6 3 6 6 3 3
1 1 1 1 1 1 1
20sin sin( ) sin sin( )
6 6 3 6 6 3 3
1 1 1 1
25cos sin( )
6 6 3 6
T t t
t t
t
t t t t t t t
t t t t t t t
t t t t
| | | |
= + + +
| |
\ . \ .
| | | |
+ + +
| |
\ . \ .
| |
+ + +
|
\ .

1 1 1 1 1 1 1
cos sin( ) sin sin( )
6 6 3 6 6 3 3 1 1
4(2, 2) sin sin( )
3 3 1 1 1 1 1 1 1
sin sin( ) cos sin( )
6 6 3 6 6 3 3
1 1 1 1 1 1 1
sin sin( ) sin sin(
6 6 3 6 6 3 3
t t
T t
t t
t
t t t t t t t
t t t
t t t t t t t
t t t t t t
( | | | |
+ + +
| | (
\ . \ . | |
(
= +
|
(
\ . | | | |
+ + + +
( | |
\ . \ .
| |
+ + +
|
\ .
+
)
1 1
cos sin( )
3 3 1 1 1 1 1 1 1
cos sin( ) s sin( )
6 6 3 6 6 3 3
t
t
t co t
t
t t t
t t t t t t t
( | |
| (
\ . | |
(
+
|
(
\ . | | | |
+ + +
( | |
\ . \ .



4(2, 3) 0 T =

1 1 1 1 1 1 1
4(2, 4) 20sin sin( ) cos sin( )
6 6 3 6 6 3 3
1 1 1 1 1 1 1
20cos sin( ) sin sin( )
6 6 3 6 6 3 3
1 1 1 1
25sin sin( )
6 6 3 6
T t t
t t
t
t t t t t t t
t t t t t t t
t t t t
| | | |
= + + +
| |
\ . \ .
| | | |
+ + + +
| |
\ . \ .
| |
+ + +
|
\ .

4(3,1) 0
4(3,1) 0
4(3, 2) 0
4(3, 3) 1
4(3, 4) 20 0.1*
4(4,1) 0
4(4, 2) 0
4(4, 3) 0
4(4, 4) 1
T
T
T
T
T t
T
T
T
T
=
=
=
=
=
=
=
=
=

V tr v vn tc im tc ng cui E:
1 1 1 1 1 1 1
20cos sin( ) cos sin( )
6 6 3 6 6 3 3
1 1 1 1 1 1 1
20sin sin( ) sin sin( )
6 6 3 6 6 3 3
1 1 1 1
25cos sin( )
6 6 3 6
xE t t
t t
t
t t t t t t t
t t t t t t t
t t t t
| | | |
= + + +
| |
\ . \ .
| | | |
+ + +
| |
\ . \ .
| |
+ + +
|
\ .

1 1 1 1 1 1 1
20sin sin( ) cos sin( )
6 6 3 6 6 3 3
1 1 1 1 1 1 1
20cos sin( ) sin sin( )
6 6 3 6 6 3 3
1 1 1 1
25sin sin( )
6 6 3 6
yE t t
t t
t
t t t t t t t
t t t t t t t
t t t t
| | | |
= + + +
| |
\ . \ .
| | | |
+ + + +
| |
\ . \ .
| |
+ + +
|
\ .

20 0.1* zE t =



2
2
2
10 1 1 1 1 1 1 1 1 1
sin sin( ) cos( ) cos sin( )
9 6 6 3 6 3 6 6 3 3
20 1 1 1 1 1 1 1 1
cos sin( ) sin sin( ) cos( )
9 6 6 3 6 6 3 3 3
10 1 1 1 1 1 1 1
cos sin( ) cos( ) sin
9 6 6 3 6 3 6 6
vEx t t t
t t t
t t
t t t t t t t t t t
t t t t t t t t t
t t t t t t t t
| | | |
= + + + +
| |
\ . \ .
| | | |
+ + +
| |
\ . \ .
| |
+ + +
|
\ .
2
2
1 1
sin( )
3 3
20 1 1 1 1 1 1 1 1
sin sin( ) cos sin( ) cos( )
9 6 6 3 6 6 3 3 3
25 1 1 1 1 1 1
sin sin( ) cos( )
18 6 6 3 6 3 6
t
t t t
t t
t t
t t t t t t t t t
t t t t t t t
| |
+
|
\ .
| | | |
+ + +
| |
\ . \ .
| |
+ + +
|
\ .

2
2
2
10 1 1 1 1 1 1 1 1 1
cos sin( ) cos( ) cos sin( )
9 6 6 3 6 3 6 6 3 3
20 1 1 1 1 1 1 1 1
sin sin( ) sin sin( ) cos( )
9 6 6 3 6 6 3 3 3
10 1 1 1 1 1 1 1
sin sin( ) cos( ) sin
9 6 6 3 6 3 6 6
vEy t t t
t t t
t t
t t t t t t t t t t
t t t t t t t t t
t t t t t t t t
| | | |
= + + + +
| |
\ . \ .
| | | |
+ + +
| |
\ . \ .
| |
+ + + +
|
\ .
2
2
1 1
sin( )
3 3
20 1 1 1 1 1 1 1 1
cos sin( ) cos sin( ) cos( )
9 6 6 3 6 6 3 3 3
25 1 1 1 1 1 1
cos sin( ) cos( )
18 6 6 3 6 3 6
t
t t t
t t
t t
t t t t t t t t t
t t t t t t t
| |
|
\ .
| | | |
+ + + +
| |
\ . \ .
| |
+ + + +
|
\ .

0.1 vEz =



c. th theo t
th ta im tc ng cui xE(t), yE(t),zE(t):
th xE(t):

th yE(t):


th zE(t):



d. Xy dng mt quy lut chuyn ng thao tc ca robot
Vn thit k qu o chuyn ng lin quan mt thit n bi ton iu
khin robot di chuyn t v tr ny n v tr khc trong khng gian lm vic. ng
i v qu o c thit k l cc lng t cho h thng iu khin v tr ca
robot. Do chnh xc ca qu o s nh hng n cht lng di chuyn ca
robot.
Thng thng, qu o dng a thc bc cao s p ng c cc yu
cu v v tr, tc , gia tc mi im gia 2 on di chuyn.
Yu cu ca thit k qu o l :
- Khu chp hnh phi m bo i qua ln lt cc im trong khng gian lm
vic hoc di chuyn theo mt qu o xc nh.
- Qu o ca robot phi l ng cong m bo tnh lin tc v v tr trong
mt khong nht nh.
- Khng c bc nhy v vn tc, gia tc.
- Qu o thng l ng cong thng thng.
Trn thc t hin nay c nhiu qu o l dng ng cong dng :
- a thc bc 2 :x(t)=a+bt+ct
2

- a thc bc 3 : x(t)=a+bt+ct
2
+dt
3

- a thc bc cao : x(t)=a+bt+..kt
n

Trong bi tp ln ny em s dng dng qu o l a thc bc 3 c dng:
X(t)=a+bt+ct
2
+dt
3
Thit k qu o a thc bc 3
T v tr ban u v hng ca tay robot, s dng phng trnh ng hc
ngc ta xc nh cc gi tr bin khp tng ng. Bi ton thit k qu o cho
khp l xc nh ng biu din ca v tr khp (gc quay ca khp quay hoc
khong tnh tin ca khp tnh tin) theo thi gian khi di chuyn t v tr ban u q
o

n v tr cui cng q
c
trong thi gian t
c
vi q l bin khp tng qut. Qu o di
chuyn ca khp gia 2 v tr s tha mn 4 iu kin: v tr ban u v v tr cui


cng, tc ti v tr ban u v v tr cui cng. Do a thc bc 3 s thch hp
cho qu o chuyn ng ca khp robot:

2 3
0 1 2 3
( )
i i i i i
q t a a t a t a t = + + +

(2.1)
Vi cc iu kin u, cui l:
0 0
( )
i i
q t q =

( )
i i
c c
q t q =

0 0
( )
i i
q t q
- -
=

( )
i i
c c
q t q
- -
=

(2.2a)

(Vi i l bin khp, i=1,2,3)

Trong thc t, tc ti v tr ban u v v tr cui cng ca khp bng khng:
0
( ) 0
( ) 0
i
i
c
q t
q t
-
-
=
=

(2.2b)
o hm phng trnh (3.1) ta c:
2
1 2 3
( ) 2 3
i i i i
q t a a t a t
-
= + + (2.3)
S dng cc iu kin u v cui (3.2) ta nhn c 4 phng trnh sau:
0 0 0
( )
i i i
q t a q = =
2 3
0 1 2 3
( )
i i i i i i
c c c c c
q t a a t a t a t q = + + + = (2.4)
0 1
( ) 0
i i
q t a
-
= =
2
1 2 3
( ) 2 3 0
-
= + + =
i i i i
c c c c
q t a t a t a t
Gii cc phng trnh trn ta c cc h s:

0 0
i i
a q =


1
0
i
a =

0
2 2
3
i i
i c
c
q q
a
t
=

0
3 3
2
i i
i c
c
q q
a
t
=
T 4 h s trn ta s c qu o dng a thc (3.1) ri t ta xc nh v tr ca
cc khp ti thi im bt k. Nhng gi tr l tn hiu t cho b iu khin v
tr truyn ng khp di chuyn n v tr tng ng.
V d:
Bi ton: Thit k qu o chuyn ng cho robot RRTR t v tr A n v tr
B trong khong thi gian 4s. Vi im: A (45, 0 ,-20) im :
B (
)
T phng trnh ng hc ngc ta tnh c gi tr cc bin khp ti cc im A,
B
Ti im A (45, 0 ,-20)
1
2
3
4
0
0
0
0
u
u
u
u
=

Ti im B (
)
suy ra



1 = 30
o
2 = 60
o

3 = 0
o

4 = 90
o

Theo (3.3) ta xc nh c cc h s ca cc khp:

- Khp 1
1
a
0
=
1
0
= 0
1
a
1
= 0,
1
a
2
= 3.6
1
a
3
= -0.32

Suy ra:
1
(t)= 3.6t
2

- 0.32t
3

(t)= 7.2t - 0.96t

2

1
(t)= 7.2 1.92t

Khp 2

2
a
0
=
2
0
= 0
2
a
1
= 0,
2
a
2
= 7.2
2
a
3
= -0.96

Ta c :

1
(t)= 7.2t
2

- 0.96t
3

1
(t)= 14.4t - 2.88t

2

1
(t)= 14.4 5.76t

- Khp 3

3
a
0
=
2
d
0
= 0
3
a
1
= 0,
3
a
2
= 2.4
3
a
3
= -0.32



Ta c :

1
(t)= 2.4t
2

- 0.32t
3

1
(t)= 4.8t - 0.96t

2

1
(t)= 4.8 0.96t

- Khp 4

4
a
0
=
4
0
= 0
4
a
1
= 0,
4
a
2
= 10.8
4
a
3
= -1.44

Ta c :

1
(t)= 2.4t
2

- 1.44t
3

1
(t)= 4.8t - 4.32t

2

1
(t)= 4.8 8.64t



e. Kho st bi ton ng lc hc ngc
u vo ca bi ton: xE=-30, yE=-30, zE=-20
i tm q1,q2,q3,q4 ( 1, 2, d3, 4)
Chng trnh maple gii bi ton ng hc ngc

>

>

>

>

Kt qu:
1=-2.658696334 rad
2= 0.6840812318 rad
d3 =0
4 ty



3. Tnh ton lc

Cc thng s vt l ca robot:
Chiu di cc khu:
a
1
= 0.25 m
a
2
=0.2 m
d
3
=

0.2 m
Khi lng cc khu
m
1
= 6 Kg
m
2
= 4 Kg
m
3
= 3 Kg
m
4
= 0.5 Kg

Ta trng tm ca cc khu:
Thit k trn phn mm solidworks. Ta xut ra c ta trng tm ca chi tit.
Vit theo h ta khp i ca khu th i. ta c:
Khu 1:
1
r
c1
= [0, 0, 0.33241]
T

Khu 2:
2
r
c2
= [0, 0, 0.125]
T

Khu 3:
3
r
c3
=[0, 0, 0.03]
T

Khu 4:
4
r
c4
=[0, 0, 0.33894]
T

Lc tc dng trn khu cui.


Do tnh ton trong trng hp tnh, m hnh robot gp vt nng 30 kg, lc tc ng
theo m hnh trn ch c trng lc ca vt, c phng theo phng Z.
F
E,4
= [0, 0, m
v
x g]
T
= [0, 0, 30 x 9.81]
T
=[0, 0, 294.3 ]
T

(N)
Cc momen tc ng ln khu cui u bng 0.
,4
0
0 ( . )
0
E
M N m
(
(
=
(
(

Tin hnh tnh ton lc tnh hc cho robot scara.
Xt khu 4:
Cc ngoi lc tc ng ln khu 4:
Lc
,4 ,4
,
E E
F M nu trn.
Trng lc:
P
4
=[0, 0, m
4
g] = [0, 0, 0.5 9.81] =[0, 0, 4.905] (N)
Ma trn nh hng ca khu 4:

0
R
4
= [

]
Ta c:
4
r
c4
= [
]
0
r
c4
=
0
R
-
4
.
4
r
c4
=[

] [
]=[
]
0
r
4
=
0
R
4
.
4
r
4
=[

] [
]=[
]

0
c4
=[

]



0
4
=[

]

Thay vo h tng qut:
0 0 0
4,3 ,4 4
0 0
4 4
4,3 ,4 4,3 4
E
o o
c
E
F F P
M M r F r P
=
= +

F
3,4
= [

]= [
]
4,3
0
0
0
M
(
(
=
(
(

Xt khu 3:
Cc lc tc ng ln khu 3:
Lc
4,3 4,3
, F M nu trn.
Trng lc P
3
=[

]

=[

] [
]


0
R
3
= [

]

Ta c:
3
r
3
=[
]
3
r
c3
=[
]



0
r
c3
=
0
R
3
.
3
r
c3
=[

] [
]=[
]
0
r
3
=
0
R
3
.
3
r
3
=[

] [
]=[
]
3
c3
=[

]

3
3
=[

]

Thay vo h tng qut:
0 0 0
3,2 4,3 3
0 0
3 3
3,2 4,3 3,2 3
o o
c
F F P
M M r F r P
=
= +

F
3,2
=[

]=[
]

3,2
0
0
0
M
(
(
=
(
(

Xt khu 2:
Lc
3,2 3,2
, F M nu trn.
Trng lc
P
2
= [

]=[

] [
]


0
R
2
=[

]

Ta c:
2
r
c2
=[
]
2
r
2
=[
]
0
r
c2
=
0
R
2
.
2
r
c2
[

] [
] [
]
0
r
2
=
0
R
2
.
2
r
2
[

] [
] [
]

0
c2
=[

]

0
2
=[

]

Thay vo h tng qut:
0 0 0
2,1 3,2 2
0 0
2 2
2,1 3,2 2,1 2
o o
c
F F P
M M r F r P
=
= +

F
2,1
=[

] [
]

M
2,1
=[
] [
] =

[
]



Xt khu 1:
Lc
2,1 2,1
, F M nu trn..
Trng lc
P
1
= [

]=[

] [
]
0
R
1
=[

]

Ta c:
0
r
c1
=[
]

0
r
1
=[
]
0
r
c1
=
0
R
1
.
0
r
c1
[

] [
] [

]
0
r
1
=
0
R
1
.
1
r
1
[

] [
] [

]

0
c1
=[

]

0
1
=[

]



Thay vo h tng qut:
0 0 0
1,0 2,1 1
0 0
1 1
1,0 2,1 1,0 1
o o
c
F F P
M M r F r P
=
= +

F
1,0
=[

] [
]

M
1,0
=[

]
Tnh ton lc tnh ln nht ti cc khp:
Qua tnh ton tnh hc trn nhn thy momen ti cc khp 3 v khp 4 u bng 0
Lc ti khp 3 (khp tnh tin) c gi tr c nh :
F
3,2
[
]
Kho st momen tnh hc ti khp 2 (khp quay):
M
2,1
= [
]
F
2,1
=[
]

Gi tr ca Momen ti khp 2:
M
2
=
=53.19676772

Kho st ti khp 1 (khp quay):
F
1,0
=[

] [
]

M
1,0
=[

]


Gi tr ca Momen ti khp 1:
M
1
=
=

Nhn thy gi tr ca momen ti khp 1 l mt hm s theo bin khp 1,2. D
dng thy c gi tr ln nht ca hm s trn t c khi 1=2. Hay ni cch
khc , cu hnh ca robot lc gc gia khu 1 v khu 2 ang bng 180 , cnh
tay ang vn ra xa nht. Gi tr momen lc s l :
M
1
= =365327,3985 (N/m)



4. Tnh ton ng lc hc

Chn ta suy rng l :
| | | |
1 2 3 4 1 2 3 4
T T
q q q q q d u u u = =
Bng m t v tr trng tm, khi lng, momen qun tnh khi ca tng khu ca
robot :
Khu V tr trng tm so
vi ta gn trn
khu
Khi
lng
Momen qun tnh khi tng khu
z2,z3,z4
x4

x3
x2
x1
z1
Zo
o
Xo
L1
L2 L3
L4
G1
G2
G3
G4


x
Gi
y
Gi
Z
Gi
I
xx
I
yy
I
zz
I
xy
I
xz
I
yz
1 -a
1
+L
1
0 0 M
1
I
1x
I
1y
I
1z
0 0 0
2 -a
1
+L
2
0 0 M
2
I
2x
I
2y
I
2z
0 0 0
3 0 0 -L
3
M
3
I
3x
I
3y
I
3z
0 0 0
4 0 0 -L
4
M
4
I
4x
I
4y
I
4z
0 0 0
Theo kt qu ca phn tnh ton ng hc thun ta c cc ma trn DH bin i cc
khu v khu c s nh sau :
1 1 1 1
1 1 1 1
1
0
0
0 0 1 0
0 0 0 1
C S a C
S C a S
T
(
(
(
=
(
(

12 12 1 1 2 12
12 12 1 1 2 12
2
0
0
0 0 1 0
0 0 0 1
C S a C a C
S C a S a S
T
+ (
(
+
(
=
(
(

12 12 1 1 2 12
12 12 1 1 2 12
3
3
0
0 a
0 0 1
0 0 0 1
C S a C a C
S C S a S
T
d
+ (
(
+
(
=
(
(

12 4 12 4 12 4 12 4 1 1 2 12
12 4 12 4 12 4 12 4 1 1 2 12
4
3 4
0
0
0 0 1
0 0 0 1
C C S S S C C S a C a C
S C C S C C S S a S a S
T
d d
+ + (
(
+
(
=
(
(

T cc ma trn T
i
(i=1,2,3,4), ta xc nh c ta khi tm ca cc khu i vi
h ta R
0
.
V tr khi tm ca khu th nht:
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1
0 ( )
0 . 0
0 0 0 1 0 0
G
a C C S a L LC
r a S S C L S
( ( ( (
( ( ( (
= + =
( ( ( (
( ( ( (

(3.1)



o hm biu thc trn theo thi gian trong h quy chiu c nh ta c vn tc
khi tm

Suy ra vn tc khi tm khu th nht:
1 1 1
1 1 1 1 1
sin
os
0
G G
L q q
v r L q c q
(
(
= =
(
(

(3.2)

Ma trn Jacobi tnh tin ca khu th nht:
1 1
1 1 1
0 0 0
0 0 0
0 0 0 0
T
L S
J L C
(
(
=
(
(

(3.3)

V tr khi tm ca khu th 2:
1 1 2 12 12 12 2 2 1 1 2 12
2 1 1 2 12 12 12 1 1 2 12
0 ( )
0 . 0
0 0 0 1 0 0
G
a C a C C S a L a C L C
r a S a S S C a S L S
+ + ( ( ( (
( ( ( (
= + + = +
( ( ( (
( ( ( (

(3.4)

Vn tc khi tm ca khu th 2:
1 1 1 2 12 12
2 2 1 1 2 12 12
0
G G
a q S L q S
v r a q C L q C

(
(
= = +
(
(

(3.5)

Ma trn Jacobi tnh tin ca khu th 2:
1 1 2 12 2 12
2 1 1 2 12 2 12
0 0
0 0
0 0 0 0
T
a S L S L S
J a C L C L C
(
(
= +
(
(

(3.6)



1 1 2 12 12 12
3 1 1 2 12 12 12
3 3
1 1 2 12 1 1 2 12
3 1 1 2 12 1 1 2 12
3 3 3 3
0 0
0 . 0
0 0 1
G
G
a C a C C S
r a S a S S C
d L
a C a C a C a C
r a S a S a S a S
d L q L
+ ( ( (
( ( (
= + +
( ( (
( ( (

+ + ( (
( (
= + = +
( (
( ( + +

(3.7)

1 1 1 2 12 12
3 3 1 1 2 12 12
3
G G
a q S a q S
v r a q C a q C
q

(
(
= = +
(
(

(3.8)

1 1 2 12 2 12
3 1 1 2 12 2 12
0 0
0 0
0 0 1 0
T
a S L S L S
J a C L C L C

(
(
= +
(
(

(3.9)
1 1 2 12 12 4 12 4
4 1 1 2 12 12 4 12 4
3 4 4
1 1 2 12 1 1 2 12
4 1 1 2 12 1 1 2 12
3 4 4 3 4 4
0 0
0 . 0
0 0 1
G
G
a C a C C S
r a S a S S C
d d L
a C a C a C a C
r a S a S a S a S
d d L q d L

+ ( ( (
( ( (
= + +
( ( (
( ( (

+ + ( (
( (
= + = +
( (
( ( + +

(3.10)

1 1 1 2 12 12
4 4 1 1 2 12 12
3
G G
L q S a q S
v r L q C L q C
q
(
(
= = +
(
(

(3.11)



1 1 2 12 2 12
4 1 1 2 12 2 12
0 0
0 0
0 0 1 0
T
L S a S a S
J L C a C a C

(
(
= +
(
(

(3.12)

T cc ma trn T
i
ta suy ra c cc ma trn cosin ch hng ca cc khu l:
Ma trn cosin ch hng ca khu th nht:
1 1
1 1 1
0
0
0 0 1
C S
A S C
(
(
=
(
(

Ma trn cosin ch hng ca khu th 2:
12 12
2 12 12
0
0
0 0 1
C S
A S C
(
(
=
(
(

12 12
3 12 12
0
0
0 0 1
C S
A S C
(
(
=
(
(

12 4 12 4
4 12 12 4
0
4 0
0 0 1
C S
A S C

(
(
=
(
(

Ton t sng vc-t vn tc gc khu th nht:


1 1 1 1 1 1 1
1 1 1 1 1 1 1 1 1 1
0 0 0 0
. 0 . 0 0 0
0 0 1 0 0 1 0 0 0
T
S q C q C S q
A A C q S q S C q e
( ( (
( ( (
= = =
( ( (
( ( (

(3.13)
Suy ra vec-to vn tc gc trng h R
0
l:
| |
1 1
0 0
T
q e =
(3.14)
Ma trn Jacobi quay ca khu th nht:
1
0 0 0 0
0 0 0 0
1 0 0 0
J
e
(
(
=
(
(

(3.15)

Ton t sng vc-t vn tc gc khu th 2:
12 12 12 12 12 12
2 2 2 12 12 12 12 12 12
0 0
. 0 . 0
0 0 1 0 0 1
T
S q C q C S
A A C q S q S C e
( (
( (
= =
( (
( (

(3.16)

Suy ra:
(3.17)

Ma trn Jacobi quay ca khu th 2:
1 2
2 1 2
0 0
0 0
0 0 0
q q
q q e
(
(
= +
(
(

2
0 0 0 0
0 0 0 0
1 1 0 0
J
e
(
(
=
(
(

(3.18)
| |
2 1 2
0 0
T
q q e = +


Ton t sng ca vc-t vn tc gc khu th 3:
12 12 12 12 12 12
3 3 3 12 12 12 12 12 12
1 2
3 1 2
0 0
. 0 . 0
0 0 1 0 0 1
0 0
0 0
0 0 0
T
S q C q C S
A A C q S q S C
q q
q q
e
e
( (
( (
= =
( (
( (

(
(
= +
(
(

(3.19)

Suy ra:
| |
3 1 2
0 0
T
q q e = +
(3.20)
3
0 0 0 0
0 0 0 0
1 1 0 0
J
e
(
(
=
(
(

(3.21)

Ton t sng ca vc-t vn tc gc khu th 4:
12 4 12 4 12 4 12 4 12 4 12 4
4 4 4 12 4 12 4 12 4 12 4 12 4 12 4
1 2 4
4 1 2 4
0 0
. 0 . 0
0 0 1 0 0 1
0 0
0 0
0 0 0
T
S q C q C S
A A C q S q S C
q q q
q q q
e
e

( (
( (
= =
( (
( (

+ (
(
= +
(
(

(3.22)
| |
4 1 2 4
0 0
T
q q q e = +
(3.23)

2
0 0 0 0
0 0 0 0
1 1 0 1
J
e
(
(
=
(
(

(3.24)



Cc ma trn momen qun tnh ca cc khu, tnh i vi cc h ta i qua khi
tm tng ng v c cc trc song song vi cc trc ca h ta R
i

i vi khu th nht:
1
1 1
1
0 0
0 0
0 0
x
y
z
I
I I
I
(
(
=
(
(

(3.25)

i vi khu th 2:
2
2 2
2
0 0
0 0
0 0
x
y
z
I
I I
I
(
(
=
(
(

(3.26)

i vi khu th 3:
3
3 3
3
0 0
0 0
0 0
x
y
z
I
I I
I
(
(
=
(
(

(3.27)

i vi khu th 4:
4
4 4
4
0 0
0 0
0 0
x
y
z
I
I I
I
(
(
=
(
(

(3.28)
Ma trn khi lng xc nh


2 2 2 2 2 2 2
11 1 1 2 1 2 1 2 2 3 1 1 2 2 2 1 1 2 2 2
1z 2z 3z 4z
2 2 2
12 2 2 1 2 2 3 2 2 1 2 4 2 2 1 2 2z 3z 4z
13 31
14 41
( cos ) m (a 2a a cosq a ) m4(a 2a a cosq a )
I I I I
m m (L a cosq L ) m (a a a cosq ) m (a a a cosq ) I I I
m m 0
m m
m m L m a L a q L = + + + + + + + + +
+ + + +
= + + + + + + + +
= =
= =
4z
I

2 2 2
21 2 2 1 2 2 3 2 2 1 2 4 2 2 1 2 2z 3z 4z
2 2 2
22 2 2 3 2 4 2 2z 3z 4z
23 32
24 42 4z
33 3 4
34 43
44 4z
m m (L a cosq L ) m (a a a cosq ) m (a a a cosq ) I I I
m m L m a m a I I I
m m 0
m m I
m m m
m m 0
m I
= + + + + + + + +
= + + + + +
= =
= =
= +
= =
=

Ma trn C( , ) q q xc nh theo cng thc :
ij
1
( , ) .
n
ijk k
k
c q q h q
=
=
nn ta c :
11 2 2 1 2 3 2 1 2 4 2 1 2 2
12 2 2 1 2 3 2 1 2 4 2 1 2 1 2 2 1 2 3 2 1 2 4 2 1 2 2
13 14
21 2 2 1 2 3 2 1 2 4 2 1 2 1
c ( m L a sinq m a a sinq m a a sinq )
c ( m L a sinq m a a sinq m a a sinq )q ( m L a sinq m a a sinq m a a sinq )
c c 0
c (m L a sinq m a a sinq m a a sinq )
c
q
q
q
=
= +
= =
= + +
22 23 24
31 32 33 34
41 42 43 44
c c 0
c c c c 0
c c c c 0
= = =
= = = =
= = = =
Biu thc ng nng ca h c dng :

( )
11 12 13 14 1
21 22 23 24 2
1 2 3 4
31 32 33 34 3
41 42 43 44 4
1
. ( ).
2
1
2
T
T q M q q
m m m m q
m m m m q
T q q q q
m m m m q
m m m m q
=
| || |
| |
| |
=
| |
| |
\ . \ .
(3.29)

Biu thc th nng ca h c dng :

| |
1 C1 2 C2 3 C3 4 C4
2 1 3 1 3 3 4 1 3 4 4
0 0 g {m r m r m r m r }
m .d .g m .(d q L ).g m .(d q d L ).g
H = + + +
H = + + + +
(3.30)

o hm biu thc H theo q
i
ta s thu c cc lc suy rng c th nh sau :


3 4
( ) (0, 0, , 0)
T
g q m g m g =

Nu a vo thnh phn lc cn nht khp ng th hm hao tn c dng :

2 2 2 2
1 1 2 2 3 3 4 4
1
( )
2
b q b q b q b q = + + +

o hm biu thc
theo i
q
ta s thu c cc lc cn nht (l thnh phn lc
khng th) nh sau:

1 1
2 2
3 3
4 4
c
b q
b q
L
b q
b q
(
(
(
=
(
(

(3.31)

Gi i
t
l cc lc (nu t ti khp tnh tin ) hoc ngu lc (nu n t ti khp
quay) trc tip lm cho khp chuyn ng . Nh vy ta k hiu vc t lc ng c
to nn dch chuyn cc khp ng l :

1
2
3
4
L
t
t
t
t
t
(
(
(
=
(
(

(3.32)
Thay vo phng trnh :

( ). ( , ). ( ) ( ) M q q C q q q g q t t + + =

Ta thu c h phng trnh chuyn ng vi phn ca robot nh sau :
11 1 12 2 13 3 14 4 2 2 1 2 3 2 1 2 4 2 1 2 1 2
2
2 2 1 2 3 2 1 2 4 2 1 2 2 1 1 1
21 1 22 2 23 3 24 4 2 2 1 2 3 2 1 2 4 2 1
m q m q m q m q 2(m L a sinq m a a sinq m a a sinq ) q
(m L a sinq m a a sinq m a a sinq ) q
m q m q m q m q (m L a sinq m a a sinq m a a sin
q
q b t
+ + + + +
+ + + =
+ + + + + +
2
2 1
2 2 2
q )q
b q t + =

31 1 32 2 33 3 24 4 3 4 3 3 3
41 1 42 2 43 3 44 4 4 4 4
m q m q m q m q (m m )g b q
m q m q m q m q b q
t
t
+ + + + + =
+ + + + =

Nu vit di dng ma trn th thu c h phng trnh nh sau:


( ). ( , ). ( )
c
M q q C q q q g q L L
t
+ + + =
(3.33)
M phng mt s bi ton ng lc hc bng phn mm maple
Bi ton thun
Cho bit
( )
i
t t
, cc thng s ng hc ca robot bit trc, ta cn tm cc quy
lut chuyn ng ca cc khp tng ng.
Gii h phng trnh (*) pha trn bng Maple vi cc thng s u vo nh sau:
2sin( ) 2.5sin( ) 20 1.5sin( ) 4sin( )
12 4 6 3
T
t
L t t t t
t t t t
t t t t
(
= + + + + +
(

iu kin u :
| |
| |
0
0
0.1 0 0.2 0, 3
0 0 0 0
T
T
q
q
=
=

Cc thng s ng hc :
a
1
= 0,5m ; a
2
= 0,4m ; d
4
= 0,1m ; g =9,81m/s
2

L
1
= 0,25m ; L
2
= 0,2m ; L
4
= 0,05m
b
1
= 0,5; b
2
= 0,5; b
3
= 0,5; b
4
= 0,5;
m
1
= 10,238 kg m
2
= 3,606 kg

m
3
= 2,134 kg
m
4
= 0,511 kg

Cc thng s ng lc hc :
I
1x
= 1,980 ; I
1y
= 2,081 ; I
1z
= 0,238 (kg.m
2
)
I
2x
= 0,011 ; I
2y
= 0,104; I
2z
= 0,107;
I
3x
= 0,005 ; I
3y
= 0,040; I
3z
= 0,041;
I
4x
= 0,081 ; I
4y
= 0,081 ; I
4z
= 0,000;
Kt qu m phng trong khong thi gian t = [0,2.5] nh sau :









Bi ton ngc
Cho quy lut ca X(t) nh sau, xt trong khong thi gian T = 4s
3 2
.sin
2 3
5
0.4 0.15cos
6
5
0.35 0.05sin
6
( )
0.415 0.1sin
2
p
p
p
t
t
x
t
y
X t
z
t
e
t
t
t
t
| |
|
\ .
( | |
+
| (
\ .
(
(
(
| |
+ (
( |
\ .
(
( = =
(
(
| |
(
(
|

\ .
(
(
(

53auk hi gii bi ton ng lc hc ngc, ta s tm c q(t),do hm q(t) theo t ta
s tm c vn tc, gia tc tng ng ca bin khp. Thay vo phng trnh vi
phn chuyn ng (3.33) ta s tm c L
t
. Tin hnh m phng s ta c:















5. Thit k h dn ng cho khp th nht

Thng s u vo
M men ln nht Mmax = 365,32 Nm = 365320 Nmm
Vn tc gc khu 1 ln nht w
max
= 30 vng/ pht = (rad/s)
Tnh ton
Tnh s b cng sut
Cng sut ca khu 1
P1= T.w= 365,32. =1147.687 W = 1,148 kW

Cng sut s b ca trc ng c
q
1
P
P
dc
=
Vi: ... . . .
4 3 2 1
q q q q q =
Trong
i
q l hiu sut ca cc b truyn v cc cp ln trong h dn ng.
Tnh ton s b h dn ng khu 1 gm c 2 b truyn bnh rng tr (hiu sut
1
q ), 3 cp ln (hiu sut
2
q ), Ta tra bng 2.3[1], ta c:
ng c
Hp gim tc
Khu 1


1
= 0,97,
2
= 0.995
Ta c:

=
1
2

2
3
=0.956
Do cng sut s b ng c:
P
c
=
Kw
Tnh chn ng c
Theo ph lc bng P1.3 sch tnh ton thit k h dn ng c kh ta chn c
ng c
- Model : 4A100L8Y3
- Tc vng quay ng b: 750 vng/ pht
- Vn tc quay 698 vng / pht
- Cng sut ng c: 1.5 Kw
- Cos = 0.65
-
=1,7

-

Tnh ton v phn phi t s truyn
Vi ng c va chn c, ta c t s truyn tng
u
=25
Vi t s truyn thp nn ta s chn hp gim tc bnh rng tr rng thng 2 cp.
Trong qu trnh tnh ton ta s ch tnh ton cho 1 cp bnh rng do y l b
truyn 2 cp ging nhau c cng t s truyn gia cp nhanh v cp chm.
S


Thng s u vo
Cng sut trn trc ra (tay quay): P1=1,2 kW
Momen ca trc ra: T1 =365320 Nmm
Tc quay trc ra: n
1
=30 vng/pht
T s truyn u=u
1
.u
2
=5.5=25
Chn vt liu
Do khng c yu cu g c bit v theo quan im thng nht ha trong thit
k, y chn vt liu 2 cp bnh rng nh sau:
Bnh nh: Thp 45 ti ci thin t rn HB241285,
b1
=850 Mpa,
ch1
=
580 Mpa
Bnh ln: Thp 45 ti ci thin t rn HB192240,
b2
=750 Mpa,
ch2
=
450 Mpa
Xc nh ng sut cho php:
Theo bng 6.2 vi thp 45 ti ci thin t rn HB180350
o
Hlim
= 2HB + 70 , S
H
= 1,1,
o
Flim
= 1,8HB, S
F
= 1.75
Chn rn bnh rng nh HB
1
=245, bnh rng ln HB
2
=230 khi :
o
Hlim1
=2HB + 70= 2.245+70=560 Mpa
o
Flim
1=1,8HB=1,8.245 =441 Mpa
o
Hlim2
=2HB + 70= 2.230+70= 530 Mpa


o
Flim2
=1,8HB=1,8.230=414 Mpa
Theo cng thc (6.5) ti liu
N
Ho
= 30H
2,4
HB
do
N
Ho1
=30.245
2,4
= 1,6. 10
7

N
Ho2
=30.230
2,4
= 13.9.10
7

Theo cng thc (6.7) ti liu
N
HE
=60c(Ti/Tmax)
3
.n
i
t
i

N
HE2
=60c.n
1
/u
1
t
i
(Ti/Tmax)
3
.n
i
.t
i

Thay s vo ta tnh c
N
HE2
=6,05.10
7
> N
Ho2
do K
HL2
=1
Suy ra N
HE1
> N
Ho1

Do K
HL1
=1
Vy theo ct (6.1a) tnh c s b
[
H
] =
Hlim
.K
HL
/S
H

[
H
]
1
=560.1/1,1=509 Mpa
[
H
]
2
=530.1/1,1=481,8 Mpa
Tnh ton b truyn
Tnh s b khong cch trc:

Thay s ta tnh v chn c:

a
w1
= 85



Cc thng s n khp
m=(0,01...0.02)a
w
= (0.010.02).85=0.851.7
Chn m = 1,5
Z
1
= 2a
w
/[m(u+1)]=2.85/[1,5(5+1)]= 18,89
Chn Z
1
=19
Z
2
=u.Z
1
=5.19= 95
Do a
w
= m.(Z
1
+Z
2
)/2=1,5.(19+95)/2=85,5 mm
Ly a
w
= 90 mm do cn dch chnh tng khong cch trc t 85,5 ln 90
H s dch tm y= a
w
/m-0,5(Z
1
+Z
2
)= 90/1,5-0,5.(19+95)= 3 mm
k
y
=1000y/Zt = 1000.0,5/(19+95)= 4,386
Theo bng 6.10a ti liu ta tra c
k
x
= 0,05
H s gim nh rng:
y
= k
x
.Zt/1000 = 0,05.(19+95)/1000=0,00057
Tng h s dch chnh :
x = y+
y
=3 +0,00057 =3,00057
b
w
=88(
H
/[
H
])
2
= 35

Cc thng s v kch thc b truyn

Khong cch trc ln a
w
90
Khong cch trc
chia
a 85,5
ng knh chia
bnh nh
d
1
28,5


ng knh chia
bnh ln
d
2
142,5
Modul m 1,5
T s truyn u 5
S rng bnh rng
nh
Z
1
19
S rng bnh rng
ln
Z
2
95
H s dch chnh x 3,00057
Chiu rng vnh rng b
w
35

Chn s b ln
Da vo ng knh s b cc trc, v iu kin s dng bnh rng tr rng thng
ta chn loi ln: bi c trung
S dng phn mm solid work chng em chn c ln:




S dng phn mm solidwork chng em v c hp gim tc v ng c

ng c

Hp gim tc



6. Thit k h thng iu khin
a. Chn lut iu khin ph hp
Khi thit k thng iu khin ta c th b qua ng hc ca c cu chp hnh,qun
tnh ca ng c v b bin i.Nh vy t chc nng ca b iu khin l to ra
mt moomen cn thit truyn ng khp robot m bo khp robot lun bm
theo v tr t .
Ta chn thit k h theo h thng phn hi trong khng gian khp

Hnh 6.1 S tng qut ca h thng iu khin phn hi
Lut iu khin :

Hnh 6.2 S cu trc h thng iu khin robot vi b iu khin PD



Ta c phng trnh ng lc hc :
( ) ( , ) ( )
T
E
M q q C q q q G q U J F + + = +
, gi
H(q)=M(q)trnh nhm vi M l vector momen v ( , ) ( , ) V q q C q q q = , M U =

tip n ta coi robot khng chu tc dng ca ngoi lc v lut iu khin bm qu
o 0 F = nh vy phng trnh ng lc hc c rt gn nh sau:
( ). ( , ) ( ) M H q q V q q G q = + +

Lut iu khin : ( ) ( )
dk p d d d p d
M K q q K q q K K c c = + = +

(6.1)
Trong :
1 2
( , ,..., )
p p p pn
K diag K K K = - ma trn ng cho cc h s khuch
i ca tng khp ring bit.

1 2
( , ,..., )
d d d dn
K diag K K K =
-ma trn ng cho cc h s
khuch i o hm ca tng khp ring bit.
Vi lut iu khin ny gi thit thnh phn momen trng lc G(p) c
b hon ton.
H thng iu khin vi cu trc b iu khin nh trn, n nh tuyt i ton
cc. Thc vy chn hm Liapunov c dng nh sau:

1
.( . . . . )
2
L
T
T
Kp H q q V
c
c
=
+

(6.2)
Hm V
L
biu th tng nng lng ca h thng robot: Thnh phn cha Kp t
l vi nng lng u vo, thnh phn sau l ng nng ca robot m Kp v H l
cc ma trn c h s dng .Nn hm V
L
> 0 vi q khc qd.
Tnh o hm cp 1 ca V
L
ta nhn c:
1
.( . . . . . . . . . . )
2
L
T T T
T T
Kp Kp H q H q H q q q q
V
c c
c c
=
+ + + +

Do tnh cht i xng ca cc thnh phn . .
T
Kpc
c
, . .
T
H q
q
, ta rt gn c

1
. . . . . . .
2
L
T T
T
Kp H q H q q q
V
c
c
=
+ +

T phng trnh ng lc hc vi gi thit khng c thnh phn momen trng
lc G(q), nhn c phng trnh sau :
1
. . . . . .[ ( , )]
2
L
T T
T
Kp H q M V q q q q
V
c
c
=
+ +

S dng thuc tnh ca phng trnh ng lc hc v p dng lut iu khin
(6.1) ta c
1 1
. . . ( , ). . . ( ). . . .( . )
2 2
L
T T T T T
Kd C q q q H q q Kd H C q q q q q q
V
c c
= =
+ +

Trong :
( , ) ( , ). V q q C q q q =
.
Do ma trn
1
.
2
H C
l ma trn i xng ngc =>
1
.( . ) 0
2
T
H C q
q
=



. . 0
T
L
Kd q
q
V
s
=

(6.3)
T (6.2) ,(6.3) cho thy rng, mc dng ca V
L
ph thuc vo Kp; mc
m ca
L
V
ph thuc vo Kd . Do tng tc hi t bng tng gi tr Kd. Nng
cao chnh xc tinh ca h thng iu khin t c bng tng h s Kp ca
khu khuch i. Tuy nhin ,Kp v Kd qu ln s lm gim n nh v cht
lng qu trnh qu nh qu iu chnh , thi gian qu tng.
b. M phng bng Matlab
S dng th vin SimMechanis vi m hnh robot Robot c xut ra t
solidwork

Hnh 6.3 m hnh m phng
T m hnh bn v lp ca m hnh robot RR ny ta xut sang file *.xml ri
dng matlab c xut ra file di dng simulink, ri thit kdi dng cc khi ca
h thng iu khin ma trn Jacobien chuyn v.


Hnh 6.4 S khi iu khin ma trn jacobien chuyn v
Cc khi con nh nh sau :

Hnh 6.5 khi PD
Trong khi robot RR phn quan trng nht l phn xut t soid sang c s khi
nh sau:



Hnh 6.5 Khi con robot xut ra t Solidwork

Vi qu o ca cc khp thit lp trong phn thit lp qu o
Ta chn cc h s khuch i t l v o hm c la chn nh sau :
10000 0 0
0 10000 0
0 0 10000
P
K
| |
|
=
|
|
\ .
,
200 0 0
0 200 0
0 0 200
D
K
| |
|
=
|
|
\ .

Trong :
l tn hiu qu o t v vn tc t vo cc khp ca robot c thit lp

trong phn thit lp qu o
q, v l cc tn qu a v vn tc phn hi li t robot(qu o thc)
y ta s dng cc khi:
+khi Gain dng khch i cc tn hiu u vo
+khi mux chp cc tn hiu n thnh cc tn hiu tng hp v tch thnh nhiu tn
hiu


+khi input, ouput u vo v ra ca tn hiu
+khi hm biu din mt hm ton hc khi c tn hiu i vo l cc bin v tn hiu
u ra l gi tr ca hm
=(3.6*u(1)^2-0.48*u(1)^3)*pi/180
=(7.2*u(1)^2-0.96*u(1)^3)*pi/180
=(14.4*u(1)-2.88*u(1)^2)*pi/180
=(7.2*u(1)-1.44*u(1)^2)*pi/180
=(14.4*u(1)-2.88*u(1)^2)*pi/180
+ khi scope hin th tn hiu u ra ca qu trnh m phng theo thi gian.
+ khi thi gian t gi tr bng 8(s)

Hnh 6.6 S h thng

Kt qu m phng:


Hnh 6.7

Hnh 6.8 Sai s bin khp theo thi gian



Hnh 6.9 V tr cc khp theo thi gian

Hnh 6.10 Vn tc cc khp theo thi gian



Contents
MC LC ......................................................................................................................... 1
1. Phn tch la chn cu trc .......................................................................................... 2
a. Khi qut v robot ......................................................................................................... 2
Mt, mi, tai ...................................................................................................................... 2
b. Cu trc ng hc robot............................................................................................... 4
1.2 Bc t do ca robot..................................................................................................... 6
c. Cc phng n thit k cu trc ph hp cho cc khu khp ....................................... 7
d. Phn tch, chn, thit k cu trc c chn ................................................................ 8
2. Gii bi ton ng hc .................................................................................................12
3. Tnh ton lc ................................................................................................................31
4. Tnh ton ng lc hc ................................................................................................39
M phng mt s bi ton ng lc hc bng phn mm maple .....................................49
Bi ton thun..................................................................................................................49
5. Thit k h dn ng cho khp th nht .....................................................................60
6. Thit k h thng iu khin ........................................................................................68
Do tnh cht i xng ca cc thnh phn . .
T
Kpc
c
, . .
T
H q
q
, ta rt gn c .....................69
S dng th vin SimMechanis vi m hnh robot Robot c xut ra t solidwork ..........70

Hnh 6.11 Mmen cc khp theo thi gian


Tính Toán Thiết Kế Robot

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Tính Toán Thiết Kế Robot

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TNH TON THIT K ROBOT

GVHD: INH KHC TON Page 1

(t)= 7.2t - 0.96t

(t)= 7.2 1.92t

(t)= 14.4t - 2.88t

(t)= 14.4 5.76t

(t)= 4.8t - 0.96t

(t)= 4.8 0.96t

(t)= 4.8t - 4.32t

(t)= 4.8 8.64t

l tn hiu qu o t v vn tc t vo cc khp ca robot c thit lp

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