THI HC K

Mn : Robot Cng nghip

Thi gian: 45 pht - Khng s dng ti liu
Cu 1:
Cho im M nm trng gc ta 00 ca h ta gc (0xyz)0. Tm ma trn
chuyn i thun nht Tn0 biu din cc thnh phn ca im M trong h ta gc
sau khi ln lt thc hin cc php dch chuyn theo cc trc ta c nh :
- Tnh tin theo trc X0 on d1
- Quay quanh trc Y0 gc 1 = 900
- Tnh tin theo trc Z0 on d2
- Quay quanh trc Y0 gc 2 = 900
V s minh ha cc php dch chuyn.
E

Cu 2:
Cho tay my dng RR gm 2 khp quay loi 5
nh hnh v bn. Khu 1 c chiu di L 1, khu 2 c
chiu di L2 . im tc ng cui E nm ti u mt
ca khu 2.

L2

Dng php bin i DH (Denavit-Hartenberg)

thc hin cc ni dung:
- Xy dng cc h ta ng gn vo cc khu ca tay my.
- Xc nh b thng s DH.
- Xc nh ma trn chuyn DH.
----------------------------- Ht -----------------------------

L1

BI GII
Cu 1 :
S minh ha cc php dch chuyn :
X2
Z0

X3

Z3

Z2

Z1

Z4
Y2

M3

Y3

d1+ d2

Y0

Y1

M4

X0

X0

X1

Y0

d1+ d2
Y4

X4

Tn0 = Rot (Y0, 900) Tran (Z0, d2) Rot (Y0, -900) Tran(X0, d1)
cos900 0 sin900 1 1

0
1
0 0 0

=
sin900 0 cos900 0 0

0
0 1 0
0
0 0 1 0 1 0 0
0 1 0 0 0 1 0

=
-1 0 1 0 0 0 1

0 0 0 1 0 0 0

1
0

0
1
0
0

d1 +d 2
0
0
1
0

0
1

0
1
0
0
0
0
d1

0 cos(-900 ) 0 sin(-900 ) 1

0 0
0
1
0
0
1 d1 sin(-900 ) 0 cos(-900 ) 0

0 1
0
0
0
1
0 0 -1 0 1 0 0 d 2
0 1 0 0 0 1 0 0
1 0 0 0 0 0 1 0

0 0 0 1 0 0 0 1

1
0

1
0

d 2
0 0
1 0

0 1

Cu 2 :
- Xy dng h ta nh hnh v v thc hin ln lt cc php dch chuyn:
T20 = R(Z0, 1) T(X0, L1) R(X1, 1) R(Z1, 2) T(X1, L2)

- Xc nh b thng s D-H:

X2
Y2
Z2

Z0
Khp idiai i110L1900220L20o

E
L2

Y0

Y1
L1

X0
Z1

X1

- Xc nh cc ma trn D-H da vo cng thc:

cos i
sin
i

sin i cos i
cos i cos i

cos i sin i

sin i

cos i

Aii-1

A10

sin i sin i

cos 1
sin
1

sin1

cos 1

L1 cos 1
L1 sin 1

cos 2

sin 2

cos 1 sin 2

sin1

sin 1 sin 2

cos 1

sin 2

cos 2

im E c biu din trong h c s:

cos 2
sin
2

rE0

A21

cos 1 cos 2
sin cos
1
2

T20 A10 . A12

ai cos i
ai sin i
di

L1 cos 1 L2 cos 1 cos 2

L sin L sin cos
1
2
1
2
1

L2 sin 2

L2 cos 2
L2 sin 2
0

L1 cos 1 L2 cos 1 cos 2

L1 sin 1 L2 sin 1 cos 2

L2 sin 2