CHNG I TNG QUAN V ROBOT 1.

1 S lc qu trnh pht trin Thut ng robot c sinh ra t trn sn khu, khng phi trong phn xng sn xut. Nhng robot xut hin ln u tin trn trn NewYork vo ngy 09/10/1922 trong v Rossums Universal Robot ca nh son kch ngi Tip Karen Kapek vit nm 1921, cn t robot l cch gi tt ca t robota - theo ting Tip c ngha l cng vic lao dch. Nhng robot thc s c ch c nghin cu a vo nhng ng dng trong cng nghip thc s li l nhng tay my. Vo nm 1948, nh nghin cu Goertz nghin cu ch to loi tay my i iu khin t xa u tin, v cng nm hng General Mills ch to tay my gn tng t s dng c cu tc ng l nhng ng c in kt hp vi cc c hnh trnh. n nm 1954, Goertz tip tc ch to mt dng tay my i s dng ng c servo v c th nhn bit lc tc ng ln khu cui. S dng nhng thnh qu , vo nm 1956 hng General Mills cho ra i tay my hot ng trong cng vic kho st y bin. Nm 1968 R.S. Mosher, thuc hng General Electric, ch to mt thit b bit i c bn chn, c chiu di hn 3m, nng 1.400kg, s dng ng c t trong c cng sut gn 100 m lc (hnh 1.1);

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Hnh 1.1 Robot 4 chn ca hng R.S Mosher v hng General Electric

Cng trong lnh vc ny, mt thnh tu khoa hc cng ngh ng k t c vo nm 1970 l xe t hnh thm him b mt ca mt trng Lunokohod 1 c iu khin t tri t (hnh 1.2).

Hnh 1.2 Xe t hnh thm him mt trng Lunokohod 1

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Vin nghin cu thuc Trng i hc Stanford vo nm 1969 thit k robot Shakey di ng tinh vi hn thc hin nhng th nghim v iu khin s dng h thng thu nhn hnh nh nhn dng i tng (hnh 1.3). Robot ny c lp trnh trc nhn dng i tng bng camera, xc nh ng i n i tng v thc hin mt s tc ng trn i tng.

Hnh 1.3- Robot Shakey-robot u tin nhn dng i tng bng camera

Nm 1952 my iu khin chng trnh s u tin ra i ti Hc Vin Cng ngh Massachusetts (Hoa K). Trn c s nm 1954, George Devol thit k robot lp trnh vi iu khin chng trnh s u tin nh mt thit b do ng pht minh c gi l thit b chuyn khp c lp trnh. Joseph Engelberger, ngi m ngy nay thng c gi l cha ca robot cng nghip, thnh lp hng Unimation sau khi mua bn quyn thit b ca Devol v sau pht trin nhng th h robot iu khin theo chng trnh. Nm 1962, robot Unmation u tin c a vo s dng ti hng General Motors; v nm 1976 cnh tay robot u tin trong khng gian c s dng trn tu thm him Viking ca c quan Khng Gian NASA ca Hoa K ly mu t trn sao Ho (hnh 1.4).

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Hnh 1.4- Tay robot trn tu thm him Viking 1 .

Trong hot ng sn xut, a s nhng robot cng nghip c hnh dng ca cnh tay c kh, cng chnh v vy m i khi ta gp thut ng ngi my - tay my trong nhng ti liu tham kho v gio trnh v robot. Trn hnh 1.5 trnh by mt robot l mt cnh tay c kh khc xa vi robot R2D2, nhng i vi sn xut n mang li li ch to ln.
Hnh 1.5- Robot lp trnh c u tin do George Dovol thit k.

I.2. Nhng ng dng in hnh ca robot. Robot c ng dng rng ri trong nhiu ngnh cng nghip. Nhng ng dng ban u bao gm gp t vt liu, hn im v phun sn. Mt trong nhng cng vic km nng sut nht ca con ngi l rn kim loi nhit cao. Cc cng vic ny i hi cng nhn di chuyn phi c khi lng ln vi nhit cao khp ni trong xng. Vic tuyn dng cng nhn lm vic trong mi trng nhit cao nh vy l mt vn kh khn i vi ngnh cng nghip ny, v robot ban u c s dng thay th cng nhn lm vic trong

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iu kin mi trng ngt ngho nh trong l c, xng rn, v xng hn. i vi robot th nhit cao li khng ng s. Trong cc nh my sn xut xe hi th hn im l cng vic s dng robot nhiu nht: khung xe c c nh vo mt xe c iu khin t xa di chuyn khp nh my. Khi xe n trm hn, kp s c nh cc chi tit ng vo v tr cn hn, trong khi robot di chuyn dc theo cc im hn c lp trnh trc (hnh 1.6, fanucrobotics.com).
Hnh 1.6 - Robot hm im trong nh my sn xut xe hi .

Sn l mt cng vic nng nhc v c hi i vi sc kho ca con ngi, nhng li hon ton khng nguy him i vi robot. Ngoi ra, con ngi phi mt hn hai nm nm c k thut v k nng tr thnh mt th sn lnh ngh trong khi robot c th hc c tt c kin thc ch trong vi gi v c kh nng lp li mt cch chnh xc cc ng tc sn phc tp. iu th hin mt bc tin ng k trong vic kt hp gia nng sut v cht lng cng nh ci thin ch lm vic cho con ngi trong mi trng c hi. Tt c robot phun sn u c dy bi mt th sn chuyn nghip gi u phun v dch chuyn n i ng ng; ng i c ghi li; v khi robot thc hin cng vic phun sn th n ch vic i theo ng i c nh sn . Nh th, robot phun sn phi c cc khp sao cho ngi th sn c th d dng dn hng cho chng. ng dng ny a n s pht trin mt loi tay robot dng vi voi c linh hot cao. Robot cn c s dng trong nhiu lnh vc khc na nh phc v cho my cng c, lm khun trong cng nghip nha, gn knh xe hi, gp hng ra khi http://www.ebook.edu.vn 5

bng ti v t chng vo cc trm chuyn trung gian. mc sau, ba ng dng ca robot trong cng nghip c kho st cc giai on nghin cu khc nhau. (1) ng dng robot trong cng ngh hn ng (hn theo vt hoc ng dn lin tc).

Hnh 1.7- H thng robot hn ng ca hn FANUC.

Hn ng thng c thc hin bng tay. Tuy nhin nng sut thp do yu cu cht lng b mt mi hng lin quan n cc thao tc ca u m hn vi mi trng khc nghit do khi v nhit pht ra trong qu trnh hn. Khng ging k thut hn im, mi hn c v tr c nh, mi hn trong k thut hn ng nm dc theo mi ghp gia hai tm kim loi. Nhng h thng hn ng thc t (hnh 1.7) ph thuc vo con ngi trong vic kp cht chnh xc chi tit c hn, v sau robot di chuyn dc theo qu o c lp trnh trc. u im duy nht so vi hn bng tay l cht lng mi hn c n nh. Ngi vn hnh ch cn thc hin mt vic t nht l kp cht cc chi tit. C th thc hin tng nng sut bng cch trang b hn nh v quay nh ngi vn hnh c th kp cht mt chi tit trong khi thc hin vic hn chi tit khc. Tuy nhin, lun c vn kh khn trong vic lp kht chi tit do dung sai trong ch to, chi tit b cong vnh, v cc thit k cn lp ghp theo ng cong khng ng dng. Cc vn lm cho vic kp cht chi tit kh khn, c bit l i vi cc chi tit ln v lp tm kim loi mng. Hn na, ng hn c th khng x l c http://www.ebook.edu.vn 6

vi m hn v n b che khut bi chi tit khc. Th hn tay phi x l kh khn nhiu loi mi ni v v tr cc chi tit khc nhau. Gn y cc nghin cu tp trung vo phng php d vt ng hn vi mc ch gim bt yu cu nh v chnh xc, v do gim chi ph hn trong khi cht lng mi hn li tng. Cm bin trang b trn cc robot hn ng phi c kh nng xc nh v tr ng ca ng hn. Nh vy, mi hn c t chnh xc, ng yu cu v hnh dng v kch thc th robot phi gi in cc theo hng ng ca ng hn vi khong cch ng t ng hn n u m hn v di chuyn vi tc khng i sao cho lng vt liu chy vo mi ni khng i. Xc nh ng hn cho cc vt th ba chiu th phc tp hn cho cc tm phng vi thng cn phi m hnh ho hnh hc nh ra ng di chuyn ca robot. Hnh 1.8 trnh by mt robot c trang b cm bin laser d ng i ca u hn. Thng thng o to mt th hn bc cao phi mt nhiu nm, nhng vic a robot vo sn xut nh my to kh nng c th thu nhn cng nhn c tr ln ln tui, c kinh nghim ngh nghip rt khc nhau. Hn ng, mt lnh vc tim nng cho vic ng dng robot, c xp vo lnh vc k thut cao.

Hnh 1.8- u hn c trang b cm bin d tm ng i bng laser theo khng gian ba chiu.

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(2) ng dng robot trong lp rp. Mt k thut sn xut c mc tiu lu di l nh my t ng hon ton, mt bn thit k c th hin ti mt trm thit k bng my tnh, khng c s can thip ca con ngi vo qu trnh sn xut. Hy th hnh dung mt mi trng sn xut t ng hon ton; t tng sn phm, gm cc ch tiu k thut cp cao, ngi ta thit k ra sn phm; sau t vt liu, lp ra chng trnh gia cng, lp ra chin lc ng i ca chi tit trong nh my; iu khin cung cp chi tit vo my gia cng, lp rp v kim tra t ng thng qua cc my gia cng CNC v cc robot tnh v robot di ng. Nhng thnh tu ca mt mi trng sn xut nh th v ang c u t nghin cu v pht trin trong nhiu nm qua. Hin nay cc nh my ln hin i u p dng m hnh t ng ho hon ton, c bit l phn thit k cp cao v phn x l chi tit cp thp. Mt trong nhng tr ngi chnh l lin kt cc tng vi nhau. Mt kh khn khc l nhu cu phng php xut ra cc c t th tc t m hnh my tnh ca sn phm. V d, vic lp ra mt cch t ng trnh t lp rp cc chi tit vi nhau trong khu lp rp.

Hnh 1.9 - Robot lp rp mch in c h thng camera quan st c dng xc nh v tr chn trn bn mch in.

Robot c s dng t ng ho qu trnh lp rp trong nhng nh my nh th. Khu ny tp trung nhiu lao ng v kh hn nhiu so vi d tnh. V d, cm mt ci m hn tay n gin v tho n ra tng phn. C bao nhiu chi tit? C bao nhiu cch lp rp n? Bn c th lp rp n bng mt tay hay khng? Bn c th nhm mt lp c n hay khng? By gi http://www.ebook.edu.vn 8

bn ang gp phi s gii hn ca robot. S pht trin ca cm bin v s ng dng n vo robot l yu t quan trng c bn ng dng robot trong lp rp. Ly v d, u m hn l mt vt th nh, nn lp rp n chng ta cn tp trung mi chi tit li, tm v tr v hng lp rp cho tng chi tit, ly chi tit u tin v t n vo c cu kp cht, ly mt chi tit na theo ng th t v lp vo chi tit u tin. Vic lp rp cn lin quan n nhiu x l khc nhau: a mt chi tit vo mt chi tit kia, t mt chi tit trn mt chi tit khc, sit cht ai c, sit vt, hay phun keo, v.v... Tuy nhin, tu trng hp c th quyt nh c s dng robot trong cng on lp rp hay khng. Trong thc t, khi sn phm c thit k kho lo th ngi cng nhn c th lp rp sn phm trong mt thi gian rt ngn (3) ng dng robot trong nh my sn xut.

Hnh 1.10 - Robot c s dng trn my p nha ly thnh phm.

Trong sn xut ln, nhng robot ny l nhng h thng c t ng ho hon ton: chng o c, ct, khoan cc thit b chnh xc v cn c kh nng hiu chnh cc cng vic ca mnh, hu nh y khng cn s gip ca con ngi tr chng trnh iu khin trong my tnh in t. Ch vi vi ngi gim st cng vic; cc my mc ny c th hot ng sut ngy m; cc robot lm tt c cc cng vic nh vn chuyn sn phm t cng on sn xut ny ti cng on sn xut khc k c vic a v sp xp thnh phm vo kho.

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Cc nh my ln th thng sn xut mt s mt hng nht nh trn cc dy chuyn hin i. Cc nh my c va v nh, nh nh my sn xut ph tng xe p chng hn, th thng sn xut sn phm a dng vi s lng khng ln. Robot khng phi lc no cng thch hp vi nhng cng vic nh vy, nhng nh my loi ny c th gii quyt vn bng cch tran b nhiu thit b a dng cho tay gp ca robot nhm cho php robot c kh nng iu chnh nhanh chng thit b cng ngh p ng linh hot vi nhiu dng cng vic khc nhau. 1.3- Mt s nh ngha Vin Nghin cu robot Hoa K a ra mt nh ngha v robot nh sau: Robot l mt tay my nhiu chc nng, thay i c chng trnh hot ng, c dng di chuyn vt liu, chi tit my, dng c hoc dng cho nhng cng vic c bit thng qua nhng chuyn ng khc nhau c lp trnh nhm mc ch hon thnh nhng nhim v a dng (Schlussel, 1985). nh ngha robot cn c Mikell P.Groover, mt nh nghin cu hng u trong lnh vc robot, m rng hn nh sau: Robot cng nghip l nhng my, thit b tng hp hot ng theo chng trnh c nhng c im nht nh tng t nh con ngi. nh ngha ca M.P.Groover v robot khng dng li tay my m m rng ra cho nhiu i tng khc c nhng c tnh tng t nh con ngi nh l suy ngh, c kh nng a ra quy nh v c th nhn thy hoc cm nhn c c im ca vt hay i tng m n phi thao tc hoc x l. Theo Artobolevski I.I., Vorobiov M.V. v cc nh nghin cu thuc trng phi khi SEV trc y th pht biu rng: Robot cng nghip l nhng my hot ng t ng c iu khin theo chng trnh thc hin vic thay i v tr ca nhng i tng thao tc khc nhau vi mc ch t ng ho cc qu trnh sn xut.

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S thng nht trong tt c cc nh ngha nu trn c im iu khin theo chng trnh. c im ny ca robot c thc hin nh s ra i ca nhng b vi x l (microprocessors) v cc vi mch tch hp chuyn dng c l chip trong nhng nm 70. Khng lu sau khi xut hin robot c iu khin theo chng trnh, ngi ta thc hin c nhng robot t hnh. Hn na, vi nhng bc pht trin nhanh chng ca k thut in t v tin hc, hin nay ngi ta sng to nhiu robot cm xc v c kh nng x l thng tin. Do nh ngha robot cng c nhng thay i b sung. Nht Bn hin nay l nc c s lng robot dng trong sn xut cng nghip nhiu nht th gii, khong hn 70% trong tng s chng 300.000 robot cng nghip trn ton th gii. Ngi Nht c quan nim d di hn v robot: theo h robot l bt c thit b no c th thay th cho lao ng ca con ngi. Trong cng nghip Nht Bn, nhng robot hay tay my c iu khin bng cam cng c lit vo hng ng robot. Theo , Hip Hi robot Cng nghip Nht Bn (JIRA - Japan Industrial Robot Association) phn loi robot thnh su hng, t nhng tay my do con ngi trc tip iu khin tng ng tc n nhng robot thng minh c trang b tr tu nhn to (theo Schlussel, 1985). Nhng robot hay tay my dng cc c cu cam trong h thng iu khin c c tha nhn hay khng l khng quan trng ; iu quan trng l chng ng vai tr ng k trong vic t ng ho sn xut cc nh my. Nhng robot, tay my ni trn cn c gi mt cch hnh tng l t ng ho cng, ngc li vi t ng ho linh hot, m i din ca chng l nhng robot cng nghip c iu khin bng chng trnh, thay i c nhim v thao tc t ra mt cch nhanh chng. Mt s nh khoa hc hng u trong lnh vc robot ca Nht Bn a ra nhng nh ngha v robot di dng nhng yu cu nh sau:

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- Theo Gio s Sitegu Watanabe (i hc Tng hp Tokyo) th mt robot cng nghip phi tho mn yu t sau: - C kh nng thay i chuyn ng; - C kh nng cm nhn c i tng thao tc; - C s bc chuyn ng (bc t do) cao; - C kh nng thch nghi vi mi trng hot ng; - C kh nng hot ng tng h vi i tng bn ngoi. - Theo Gio s Masahiro Mori (Vin cng ngh Tokyo) th robot cng nghip phi c cc c im sau: - C kh nng thay i chuyn ng; - C kh nng x l thng tin (bit suy ngh); - C tnh vn nng; - C nhng c im ca ngi v my. T nhng khc bit trong nh ngha v robot, cn c vo tnh linh hot ca nhng h thng sn xut c p dng robot P.J.McKerrow, mt nh nghin cu v robot ca c a ra mt nh ngha mt gc khc. Theo ng, robot l mt loi my c th lp trnh thc hin nhng cng vic a dng tng t nh mt my tnh, l mt mch in t c th lp trnh thc hin nhng cng vic a dng. Cc robot ng gp vo s pht trin cng nghip di nhiu dng khc nhau; tit kim sc ngi, tng nng sut lao ng, nng cao cht lng sn phm v an ton lao ng v gii phng con ngi khi nhng cng vic cc nhc v t nht. Tt nhin, trong tng lai cn nhiu vn ny sinh khi robot ngy cng thay th cc hot ng ca con ngi, nhng trong vic em li li ch cho con ngi, khm ph v tr, v khai thc cc ngun li i dng, robot thc s lm cho cuc sng ca chng ta tt p hn. Trc khi i vo phn tch nhng ni dung tip theo, bn c c s nhn dng mt cch thng nht trong qu trnh kho st,

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di y s trnh by mt s phng php phn loi robot s dng trong cng nghip. 1.4. Phn loi robot Trong cng nghip ngi ta s dng nhng c im khc nhau c bn nht ca robot gip cho vic nhn xt c d dng. C 4 yu t chnh phn loi robot nh sau: (1) theo dng hnh hc ca khng gian hot ng, (2) theo th h robot, (3) theo b iu khin, (4) theo ngun dn ng. 1.4.1. Phn loi theo dng hnh hc ca khng gian hot ng dch chuyn khu tc ng cui cng ca robot n v tr ca i tng thao tc c cho trc trong khng gian lm vic cn phi c ba bc chuyn ng chuyn di hay chuyn ng nh v (thng dng khp tnh tin v khp quay loi 5). Nhng robot cng nghip thc t thng khng s dng qu bn bc chuyn ng chuyn di (khng k chuyn ng kp ca tay gp) v thng thng vi ba bc chuyn ng nh v l , rt t khi s dng n bn bc chuyn ng nh v. Robot c phn loi theo s phi hp gia ba trc chuyn ng c bn ri sau c b sung m rng thm bc chuyn ng nhm tng thm linh hot. Vng gii hn tm hot ng ca robot c gi l khng gian lm vic. (1) Robot to vung gc (cartesian robot): robot loi ny c ba bc chuyn ng c bn gm ba chuyn ng tnh tin dc theo ba trc vung gc
Hnh 1.11. Nguyn l hot ng, khng gian lm vic v s ng hc ca robot to vung gc.

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(2) Robot to tr (cylindrical robot): ba bc chuyn ng c bn gm hai trc chuyn ng tnh tin v mt trc quay (hnh 1.12)
Hnh 1.12 guyn l hot ng, khng gian lm vic v s ng hc ca robot to tr.

(3) Robot to cu (spherical robot): ba bc chuyn ng c bn gm mt trc tnh tin v hai trc quay (hnh 1.13)
Hnh 1.13 nguyn l hot ng, khng gian lm vic v s ng hc ca robot to cu.

(4) Robot khp bn l (articular robot): ba bc chuyn ng c bn gm ba trc quay, bao gm c kiu robot SCARA (hnh 1.14).

Hnh 1.14. Nguyn l hot ng, khng gian lm vic v s ng hc ca robot lin kt bn l.

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Hnh 1.15. Nguyn l hot ng, khng gian lm vic v s ng hc ca robot dng SCARA.

1.4.2- Phn loi theo th h Theo qu trnh pht trin ca robot, ta c th chia ra theo cc mc sau y: (1) Robot th h th nht: Bao gm cc dng robot hot ng lp li theo mt chu trnh khng thay i (playback robots), theo chng trnh nh trc. Chng trnh y cng c hai dng; chng trnh cng khng thay i c nh iu khin bng h thng cam v iu khin vi chng trnh c th thay i theo yu cu cng ngh ca mi trng s dng nh cc panel iu khin hoc my tnh. c im: S dng t hp cc c cu cam vi cng tc gii hn hnh trnh. iu khin vng h. C th s dng bng t hoc bng c l a chng trnh vo b iu khin, tuy nhin loi ny khng thay i chng trnh c. S dng ph bin trong cng vic gp - t (pick and place). (2) Robot th hin th hai Trong trng hp ny robot c trang b cc b cm bin (sensors) cho php cung cp tn hiu phn hi h tr li h thng iu khin v trng thi, v tr http://www.ebook.edu.vn 15

khng gian ca robot cng nh nhng thng tin v mi trng bn ngoi nh trng thi, v tr ca i tng thao tc, ca cc my cng ngh m robot phi hp, nhit ca mi trng, v.v... gip cho b iu khin c th la chn nhng thut ton thch hp iu khin robot thc hin nhng thao tc x l ph hp. Ni cch khc, y cng l robot vi iu khin theo chng trnh nhng c th t iu chnh hot ng thch ng vi nhng thay i ca mi trng thao tc. Dng robot vi trnh iu khin ny cn c gi l robot c iu khin thch nghi cp thp. Robot th h ny bao gm cc robot s dng cm bin trong iu khin (sensor - controlled robots) cho php to c nhng vng iu khin kn kiu servo. c im: iu khin vng kn cc chuyn ng ca tay my. C th t ra quyt nh la chn chng trnh p ng da trn tn hiu phn hi t cm bin nh cc chng trnh c ci t t trc. Hot ng ca robot c th lp trnh c nh cc cng c nh bn phm, pa-nen iu khin. (3) Robot th h th ba y l dng pht trin cao nht ca robot t cm nhn. Cc robot y c trang b nhng thut ton x l cc phn x logic thch nghi theo nhng thng tin v tc ng ca mi trng ln chng; nh robot t bit phi lm g hon thnh c cng vic c t ra cho chng. Hin nay cng c nhiu cng b v nhng thnh tu trong lnh vc iu khin ny trong cc phng th nghim v c a ra th trng di dng nhng robot gii tr c hnh dng ca cc ng vt my. Robot th h ny bao gm cc robot c trang b h thng thu nhn hnh nh trong iu khin (Vision - controlled robots) cho php nhn thy v nhn dng cc i tng thao tc. http://www.ebook.edu.vn 16

c im: C nhng c im nh loi trn v iu khin hot ng trn c s x l thng tin thu nhn c t h thng thu nhn hnh nh (Vision systems - Camera). C kh nng nhn dng mc thp nh phn bit cc i tng c hnh dng v kch thc kh khc bit nhau. (4) Robot th h th t Bao gm cc robot s dng cc thut ton v c ch iu khin thch nghi (adaptively controlled robot) c trang b bc u kh nng la chn cc p ng tun theo mt m hnh tnh ton xc nh trc nhm to ra nhng ng x ph hp vi iu kin ca mi trng thao tc. c im : C nhng c im tng t nh th h th hai v th ba, c kh nng t ng la chn chng trnh hot ng v lp trnh li cho cc hot ng da trn cc tn hiu thu nhn c t cm bin. B iu khin phi c b nh tng i ln gii cc bi ton ti u vi iu kin bin khng c xc nh trc. Kt qu ca bi ton s l mt tp hp cc tn hiu iu khin cc p ng ca robot. (5) Robot th h th nm L tp hp nhng robot c trang b tr tu nhn to (artificially intelligent robot). c im: Robot c trang b cc k thut ca tr tu nhn to nh nhn dng ting ni, hnh nh, xc nh khong cch, cm nhn i tng qua tip xc, v.v... ra quyt nh v gii quyt cc vn hoc nhim v t ra cho n. Robot c trang b mng Neuron c kh nng t hc. Robot c trang b cc thut ton dng Neuron Fuzzy/Fuzzy Logic t suy ngh v ra quyt nh cho cc ng x tng thch vi nhng tn hiu nhn c t mi trng theo nhng thut ton ti u mt hay nhiu mc tiu ng thi. http://www.ebook.edu.vn 17

Hin nay trong lnh vcgii tr, nhiu dng robot th h ny ang c pht trin nh robot Aibo - ch ch robot ca hng Sony hay robot i trn hai chn v khiu v c ca hng Honda. Nht Bn l t nc c s lng robot s dng trong cng nghip nhiu nht th gii. Ngi Nht c quan nim kh khc bit v robot so vi cc nc cng nghip pht trin. Theo Hip hi robot Nht - JIRA (Japanese Robot Associasion), robot c chia thnh su loi, theo mc thng minh nh sau: 1- Robot hot ng nh ngi iu khin trc tip tng ng tc, bng pendant hay pa-nen iu khin. 2- Robot hot ng theo chu trnh c nh (fixed sequence robots). 3- Robot hot ng theo chu trnh thay i c (variable sequence robots): ngi iu khin c th d dng chnh sa trnh t hot ng. 4- Robot hot ng theo chng trnh v lp li chng trnh (playback robots): ngi iu khin c th lp trnh cho robot trong ch hun luyn (teaching mode). 5- Robot iu khin theo chng trnh s (numerically controlled robots). 6- Robot thng minh intelligent robots): robot c th hiu, nhn bit v tng tc vi mi trng xung quanh. 1.4.3- Phn loi theo b iu khin (1) Robot gp - t: Robot ny thng nh v s dng ngun dn ng kh nn. B iu khin ph bin l b iu khin lp trnh (PLC) thc hin iu khin vng h. Robot hot ng cn c vo cc tn hiu phn hi t cc tip im gii hn hnh trnh c kh t trn cc trc ca tay my.
Hnh 1.16: Mt dng robot gp t.

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(2) Robot ng dn lin tc Robot loi ny s dng b iu khin servo thc hin iu khin vng kn. H thng iu khin lin tc l h thng trong robot c lp trnh theo mt ng chnh xc. Trong h thng iu khin ny, ng dn c biu in bng mt lot cc im ri rc gn nhau v c lu vo b nh robot, sau robot s thc hin li chnh xc ng dn .
Hnh 1.17- Mt loi robot sn thc hin ng dn lin tc.

1.4.4- Phn loi robot theo ngun dn ng (1) Robot dng ngun cp in Ngun in cp cho robot thng l DC iu khin ng c DC. H thng dng ngun AC cng c chuyn i sang DC. Cc ng c s dng thng l ng c bc, ng c DC servo, ng c AC servo. Robot loi ny c thit k gn, chy m, nh v rt chnh xc. Cc ng dng ph bin l robot sn, hn.
Hnh 1.18- Mt loi robot s dng ng c servo.

(2) Robot dng ngun kh nn H thng cn c trang b my nn, bnh cha kh v ng c ko my nn. Robot loi ny thng c s dng trong cc ng dng c ti trng nh c tay my l cc xy-lanh kh nn thc hin chuyn ng thng v chuyn ng quay. Do 19 http://www.ebook.edu.vn

kh nn l lu cht nn c nn robot loi ny thng s dng trong cc thao tc gp t khng cn chnh xc cao.
Hnh 1.19- Mt loi robot s dng ngun kh nn.

(3) Robot sng ngun thu lc Ngun thu lc s dng lu cht khng nn c l du p. H thng cn trang b bm to p lc du. Tay my l cc xy - lanh thu lc chuyn ng thng v quay ng c du. robot loi ny c s dng trong cc ng dng c ti trng ln.

Hnh 1.20 - Mt loi robot di ng s dng ngun thu lc.

Ngoi nhng cch phn loi nu trn, bng 1.3 di y cung cp thm thng tin phn loi tay my v robot mt cch chi tit hn. http://www.ebook.edu.vn 20

Bng 1.3- Bng tm tt cc yu t phn loi robot. Du hiu phn loi Theo s bc chuyn ng (k c bc chuyn ng chuyn di ca c tay my) Tn gi ca tay my - C hai, ba hoc nhiu hn dng: * Khng di chuyn * T chuyn di Mt, hai hoc nhiu tay my c iu khin ng thi. Theo s lng tay my * C ngun dn ng v iu khin ring. * C ngun dn ng ring v c iu khin chung * C chung ngun dn ng * T di chuyn * Loi siu nh * Loi nh Theo ti trng nng ca tay my * Loi trung * Loi nng * Loi siu nng * Khi nn Theo ngun dn ng ca cc c cu chp hnh * Thu lc * C in * Hn hp Vi iu khin chng trnh * Theo chu k * Theo v tr Theo h thng iu khin theo nguyn l iu khin * Theo chu vi * Hn hp

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Vi iu khin theo cm nhn: * iu khin khng thch nghi * iu khin thch nghi Vi tr tu nhn to Theo s robot c iu khin ng thi Theo chnh xc Theo kiu bo him * iu khin ring r * iu khin theo nhm * Gm cc mc chnh xc: 0, 1, 2, 3 * Kiu thng thng * Kiu phng bi * Kiu phng nhit * Kiu phng n

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CHNG 2 CU TO CA ROBOT CNG NGHIP V mt truyn ng v iu khin, robot c cu to t cc khi cu trc c kh hot ng nh cc c cu tc ng. Cc c cu tc ng ny c th hot ng phi hp vi nhau thc hin nhng cng vic phc tp di s iu khin ca mt b phn c cu to nh my tnh, cn gi l nhng b iu khin PC - based. Vi nhng c im v cu to v hot ng th robot thng c s dng trong cc h thng sn xut linh hot dng workcell (FMS - Flexoble Manufacturing Systems) v cc h thng sn xut tch hp my tnh (CIM - Computer Integrated Manufacturing). Cng ngy cc dy chuyn sn xut t ng c s dng robot thay th dn cc dy chuyn sn xut t ng vi chng trnh hot ng cng trc y. Vic ng dng robot vo sn xut gn lin vi s hiu bit y cc vn c lin quan cht ch vi nhau nh cc dng ngun dn ng, cc h thng v ch iu khin, cc cm bin trang b trn robot, kh nng ca phn mm v ngn ng lp trnh cng nh chn la cc b giao tip v xut/nhp tn hiu ph hp cho cc b phn chp hnh khc nhau. Trong chng ny s cp n nhng vn c bn nht v cc thnh phn v cu hnh ca mt robot cng nghip. V mt kt cu, robot c ch to rt khc bit nhau, nhng chng c xy dng t cc thnh phn c bn nh nhau (hnh 2.1): (1) Tay my (2) Ngun cung cp (3) B iu khin

Giao tip ng vo con ngi

B iu khin

Ngun cung cp

Tay my

Cm bin

Giao tip ng ra: Qu trnh t ng c thc hin

Hnh 2.1. Cc thnh phn chnh ca mt robot cng nghip 2.1. Tay my (manipulator) Thut ng tay my v robot trong quan nim ca nhiu nh chuyn mn trong lnh vc ny khng c s khc bit. thun tin trong trnh by, y ta hiu tay my l mt dng robot c cu to m phng theo nhng c im cu to c bn ca cnh tay ngi. Cng c th hiu tay my l tp hp cc b phn v c cu c kh c thit k hnh thnh cc khi c chuyn ng tng i vi nhau, c gi l cc khu ng. Trong , phn lin kt gia cc khu ng c gi l cc khp ng hay cn gi l cc trc. Tay my cng bao gm c cc c cu tc ng l cc phn t thc s thc hin cc chuyn ng vn hnh tay my nh ng c in, xy - lanh du p, xy - lanh kh nn,... Phn quan trng khc trn cc tay my l b phn hay khu tc ng cui (End - Effector) thao tc trn i tng lm vic - thng l cc tay gp hoc cc u cng c chuyn dng. Tay my c th gi l cnh tay c kh ca robot cng nghip thng thng l mt chui ng h c to thnh t nhiu khu c lin kt vi nhau nh cc khp ng. Khu cui (hay khu tc ng cui) ca tay my thng c dng mt tay gp hoc c gn dng c cng tc. Mi khu ng trn tay my c ngun dn

ng ring, nng lng v chuyn ng truyn n cho chng c iu khin trn c s tn hiu nhn c t b phn phn hi l cc cm bin nhm thng bo trng thi hot ng ca cc khu chp hnh, trong vn c c bit quan tm l v tr v vn tc dch chuyn ca khu cui - khu th hin kt qu tng hp cc chuyn ng ca cc khu thnh phn. 2.1.1. Bc t do ca tay my Thng thng cc tay my c trn mt bc t do. S bc t do hay bc chuyn ng ca tay my l s kh nng chuyn ng c lp ca n trong khng gian hot ng. Trong lnh vc robot hc (robotic) ngi ta hay gi mi kh nng chuyn ng (c th l chuyn ng thng; dc theo hoc song song vi mt trc, hoc chuyn ng quay quanh trc) l mt trc, tng ng theo l mt to suy rng dng xc nh v tr ca trc trong khng gian hot ng. Mi trc ca tay my u c c cu tc ng v cm bin v tr c iu khin bi mt b x l ring. Thng qua cc kho st thc t, ngi ta nhn thy l nng cao linh hot ca tay my s dng trong cng nghip, cc tay my phi c s bc chuyn ng cao. Tuy nhin, s bc chuyn ng ny khng nn qu 6. L do chnh l vi 6 bc chuyn ng, nu b tr hp l, s to ra kh nng chuyn ng linh hot ca khu tc ng cui nhm c th tip cn i tng thao tc (nm trong vng khng gian hot ng ca n) theo mi hng. Ngoi ra, s bc t do nhiu hn su s khng kinh t v kh iu khin hn. Su bc chuyn ng c b tr gm: Ba bc chuyn ng c bn hay chuyn ng nh v. Ba bc chuyn ng b sung hay chuyn ng nh hng. (1) Bc chuyn ng c bn hay chuyn ng nh v V mt nguyn l cu to, tay my l mt tp hp cc khu c lin kt vi nhau thng qua cc khp ng hnh thnh mt chui ng h. Khp ng c s dng trn cc tay my thng l cc khp loi 5 (khp tnh tin hoc khp quay

loi 5) d ch to, d dn ng bng ngun c lp v cng d iu khin. Tay my c s chuyn ng c lp thng l t ba tr ln (di y ta s gi l bc t do hay bc chuyn ng). Cc chuyn ng c lp c th l cc chuyn ng tnh tin hoc chuyn ng quay. Mi khu ng trn tay my, v nguyn tc, c t nht l mt kh nng chuyn ng c lp v thng l mt. Nh vy khi nim bc t do hay bc chuyn ng cng chnh l s kh nng chuyn ng c lp m mt tay my c th thc hin c. Trng hp mi khu ng trn tay my c mt kh nng chuyn ng c lp, th tay my c bao nhiu khu ng s c by nhiu bc chuyn ng v cng c tng y khp ng hay trc. Cc chuyn ng c bn, hay chuyn ng chnh trn mt tay my l nhng chuyn ng c nh hng quyt nh n dng hnh hc ca khng gian hot ng ca n nh bn c xem phn phn loi. Cc chuyn ng ny thc hin vic chuyn di c tay ca tay my n nhng v tr khc nhau trong vng khng gian hot ng ca tay my v vy cn c gi l cc chuyn ng nh v. Bn cnh cc robot tnh ti c s dng phn ln trong cng nghip hin nay, cc loi robot di ng cng c s dng trong mt s trng hp c bit. Bc chuyn ng ca robot di ng c xc nh bi s kh nng chuyn ng c lp ca n k c cc chuyn ng di ng. Phn ngoi cng ca tay my (khu tc ng cui - End Effector) thng c dng ca mt tay gp, mt b phn lm vic vi i tng thao tc, c th tc ng trc tip vi i tng thao tc hoc c thay th bi cc dng c cng ngh nh l ng a dy hn trn robot hn, u phun sn hoc phun men, u vn bu-lng, ai c trong dy truyn lp rp t ng, v.v...Chuyn ng kp ca tay gp khng c k khi tnh bc chuyn ng bi v chuyn ng ny khng nh hng n v tr, to ca tay my.

 thun tin trong vic iu khin, mi bc chuyn ng ca tay my thng l c ngun dn ng ring, c th l ngun dn kh nn, du p hay in. Mt s tay my dng chung ngun dn cho mt nhm cc chuyn ng, tuy nhin, kiu dng chung ny cng knh v km linh hot hn. Phn ln cc robot cng nghip hin i c mt tay my. Tuy vy trong ng dng cng c robot c nhiu tay my. (2) Bc chuyn ng b sung (bc chuyn ng nh hng). Mt tay my u yu cu mt b phn cng tc trang b khu tc ng cui (End Effector), c th l mt b gp, kp hoc sng phun sn, phun va, ng dn dy hn,v.v... c linh hot trong chuyn ng m bo kh nng hon thnh nhim v cng ngh t ra. hon ton nh hng n t th lm vic vi i tng thao tc cng cn ti thiu ba bc chuyn ng, tng t nh cc chuyn ng xoay ca c tay ngi; ba khp quay loi 5 c s dng xoay khu tc ng cui trong mt phng ngang, mt phng thng ng v quay quanh trc ca n. Cc bc chuyn ng xoay c tay ni trn c gi l cc chuyn ng nh hng nhm tng kh nng linh hot, gip tay my c th d dng nh hng ca khu tc ng cui t n t th cn thit tc ng ln i tng thao tc, cng nh tng kh nng trnh chng ngi vt trong khng gian thao tc nhm ci thin tnh cht ng lc hc ca tay my. Tuy nhin, iu cn lu y l thm cng nhiu bc chuyn ng mt mt s lm tng kh nng linh hot ca tay my, mt khc cng ko theo h qu l lm tng thm sai s dch chuyn, tc l lm tng sai s tch lu trong iu khin v tr ca khu tc ng cui. iu ny ng ngha vi s gia tng v chi ph v thi gian sn xut v bo dng robot. 2.1.2- Tay my to vung gc Robot hot ng trong h to ny bao gm ba chuyn ng nh v X, Y, Z theo cc trc to vung gc.

ng dng chnh ca robot loi ny l cc thao tc vn chuyn vt liu, sn phm, c, dp, cht d hng ho, lp rp cc chi tit my, v.v... u im: - Khng gian lm vic ln, c th di n 20m. - i vi loi gn trn trn s dnh c din tch sn ln cho cc cng vic khc. - H thng iu khin n gin. Hn ch: Vic thm vo cc loi cn trc hay cc loi thit b vn chuyn vt liu khc trong khng gian lm vic ca robot khng c thch hp lm. Vic duy tr v tr ca cc c cu dn ng v cc thit b iu khin in i vi loi robot trn u gp nhiu tr ngi. 2.1.3- Tay my to tr Tiu biu cho mt robot hot ng trong h to tr l robot c trang b hai chuyn ng tnh tin v mt chuyn ng quay. u im: (1) c kh nng chuyn ng ngang v su vo trong cc my sn xut. (2) Cu trc theo chiu dc ca my li nhiu khong trng cho sn. (3) Kt cu vng chc, c kh nng mang ti ln. (4) Kh nng lp li tt. Nhc im: Nhc im duy nht l gii hn tin v pha tri v pha phi do kt cu c kh v gii hn cc kch c ca c cu tc ng theo chiu ngang. 2.1.4- Tay my to cu Robot loi ny c b tr c t nht hai chuyn ng quay trong ba chuyn ng nh v . Dng robot ny l dng s dng iu khin servo sm nht.

2.1.5- Tay my ton khp bn l v SCARA Loi cu hnh d thc hin nht c ng dng cho robot l dng khp ni bn l v k l dng ba trc thng, gi tt l dng SCARA Selective Compliance Articulated Robot Actuator) Dng ny v dng to tr l ph cp nht trong ng dng cng nghip bi v chng cho php cc nh sn xut robot s dng mt cch trc tip v d dng cc c cu tc ng quay nh cc ng c in,ng c u p, kh nn. Uu im: (1) Mc d chim din tch lm vic t song tm vn kh ln. T l kch thc/tm vn c nh gi cao. (2) V mt hnh hc, cu hnh dng khp ni bn l vi ba trc quay b tr theo phng thng ng l dng n gin v c hiu qu nht trong trng hp yu cu gp v t chi tit theo phng thng ng. Trong trng hp ny bi ton ta hoc qu o chuyn ng i vi robot ch cn gii quyt hai phng x v y cn li bng cch phi hp ba chuyn ng quay quanh ba trc song song vi trc z. 2.1.6- C tay my Bn tay ngi c 27 khc xng vi 22 bc t do rt phc tp. Hin nhin, cc nh thit k khng bao gi p dng ht cc bc t do vo tay gp ca robot. Nhiu nh nghin cu v khoa hc phn tch thao tc cng nh cc nh sn xut a ra s bc chuyn ng ti a hp l ca tay my l su nh phn tch phn trc. Cng phn trc trnh by, ngoi ba chuyn ng c bn thc hin chuyn ng nh v, tay my s c b sung ti a l ba chuyn ng nh hng dng ba chuyn ng quay quanh ba trc vung gc, gm: Chuyn ng xoay c tay (ROLL), gc quay Chuyn ng gp c tay (PITCH), gc quay Chuyn ng lc c tay (YAW), gc quay

Hai chuyn ng gp (PITCH) v lc c tay (YAW) thc hin trn hai phng vung gc. Loi robot SCARA khng cn thit phi b sung cc chuyn ng dng ny v iu s ph v c trng hot ng ca n. Tu theo yu cu ca thao tc cng ngh t ra cho robot, ngi thit k cn thc hin s phi hp a dng cc chuyn ng nh v vi cc chuyn ng nh hng. Chuyn ng gp, kp ca khu cng tc cui thng khng c tnh vo bc chuyn ng (hay bc t do) ca robot ngoi tr trng hp tay gp c dng tay gp servo c iu khin bi mt mch ring trn b iu khin. Bng di y trnh by mt s kh nng phi hp cc bc chuyn ng chnh (1, 2, 3) v cc chuyn ng nh hng c tnh cht tham kho. Bng 2.1: S bc chuyn ng nh v 2 3 4 S bc chuyn ng nh hng 0; 1: 2; 3 0; 1: 2; 3 0; 1: 2; 3 Kh nng phi hp (tng s chuyn ng/s chuyn ng nh hng) 2/0: 3/1: 4/2: 5/3 3/0: 4/1: 5/2: 6/3 4/0: 5/1: 6/2: 7/3

2.1.7- Cc ch hot ng ca tay my v robot cng nghip Robot cng nghip thng c hai ch hot ng: (1) Ch hun luyn (teaching mode) Ch ny cn gi l ch lp trnh. ch hot ng ny chng trnh thao tc ca robot s c ngi s dng c nh bng nhng bc chng trnh; c ngha l, mi bc chng trnh s c nhp vo b iu khin robot bng nhng cng c khc nhau c trang b km theo nh pa-nen lp trnh v iu khin (teach pendant), b m phng (simulator hoc makette) hoc bn phm trong trng hp iu khin trc tip bng my tnh. Trong mt s trng hp khi kch thc v trng lng cc khu ca tay my kh b, c th s dng ngay c cch thc dng tay dt trc tip cc khu ca tay my a khu tc ng cui dch

chuyn tun t qua cc im trn qu o d kin (kiu lp trnh dt mi - leadby-nose). mi bc chng trnh, to ca cc khu s c lu li (insert) nhm cho php lp thnh mt tp hp cc bc tun t (gi l chng trnh) a tay gp hay dng c cng ngh gn trn khu tc ng cui ca tay my di chuyn trn qu o d kin. Ton b trnh t cc bc thao tc c lu li trong b nh, sau cho tay my hot ng li ton b chu trnh thao tc kim tra. Trng hp cn iu chnh chng trnh hot ng c th thay i d liu ca cc bc chng trnh, chn thm hoc bt i cc bc chng trnh cho n khi t c yu cu v qu o v tc dch chuyn t ra. (2) Ch t ng (auto mode) Ch ny cn gi l ch t ng thc hin thao tc cng ngh. ch ny, khi c tn hiu khi ng, da theo d liu ca chng trnh gm cc bc tun t lu trong b nh c thit lp trong ch hun luyn, tay my s t ng thc hin chng trnh qu o. Hnh 2.16 trnh by mt giao din phn mm lp trnh cho robot PM-01 trong ch hun luyn trong ng i ca robot c th c lp trnh bng bn phm hay bng cch dt trc tip. 2.2- B iu khin robot B iu khin robot thng cu thnh t cc b phn c bn tng t nh my tnh (b iu khin PC based) bao gm b x l trung tm, b nh v b xut/nhp kt hp vi mn hnh hin th cc lnh khi lp trnh v ng thi theo di s thay i to trong dch chuyn ca cc khu. Ton b cc phn ni trn c b tr bn trong t iu khin chnh v c sp xp theo tng m-un gm cc bo mch in t. Bn cnh , lp trnh mt cch thun tin cho robot, cc nh ch to thng b tr mt pa-nen kt ni song song, cn gi l b teach pendant, vi phm bm thc hin cc thao tc iu khin trc tip chuyn ng ca cc trc trn robot trong ch lp trnh hun luyn (teaching mode) v bn trong l mt bo mch kt ni trc tip vi b xut/nhp. i khi trong cu hnh ca

b iu khin cn c trang b thm mt b iu khin m phng (simulator) c kt ni vi mch xut/nhp tng t nh pa-nen h tr thm cho cng vic lp trnh. B iu khin l b phn th hin nhng c im k thut u vit ca robot, v vy y s trnh by c th hn v tng b phn trong h thng iu khin robot. Hnh 2.17 trnh by s khi n gin nht ca b iu khin robot - l mt thit b c cu trc tng t nh my tnh thc th bao gm cc phn nh sau: - Mt hay nhiu b vi x l tng ng vi mt b x l trung tm. - B nh cha chng trnh chnh do nh sn xut vit cho robot. Trong cc chng trnh chi tit v d liu nhp vo c thc hin bi ngi s dng. - Thit b xut/nhp my tnh nhn thng tin t cc b phn h tr lp trnh, t cc cm bin v chuyn tn hiu iu khin n cc c cu tc ng vn hnh cc trc v n cc phn t chp hnh bn ngoi c lin quan trong qu trnh hot ng ca robot cng nh trao i thng tin, d liu vi cc my tnh v b iu khin khc.
Bus d liu B nh -Ram -ROM

B x l trung tm

Thit b xut nhp

Bus a ch Bus iu khin

Hnh 2.17. B iu khin robot theo cu trc PC - based Mt b iu khin robot ngoi phi c kh nng khi iu tay my cn c vo cc tn hiu gi v t cm bin v tn hiu t camera; giao tip vi ngi vn hnh thng qua cc thit b xut nhp nh mn hnh, pa - nen iu khin cng nh lin

kt vi cc thit b iu khin khc trong mt h thng sn xut nh cc my tnh khc, robot khc, ... Ngoi vic x l v iu khin robot, b iu khin cn a ra cc tn hiu phi hp vi cc thit b cng ngh m robot phc v cng nh cho cc robot v nhng thit b cng ngh khc nh cc my cng c CNC, cc bng ti ... cng phi hp hot ng vi robot ang iu khin. Khoa hc v robot c pht trin nhanh chng vi cc c im k thut tin tin ca robot c thc hin nh nhng b iu khin mnh. Mc d vy, cc robot th h c chuyn thc hin cc cng vic n gin vn cn c s dng khi vn cn c ch cho cng vic sn xut. 2.2.1. B x l trung tm Trung tm ca b iu khin l CPU chu trch nhim qun l thng tin v b nh, qun l xut nhp, x l thng tin, tnh ton v iu khin v a ra cc tn hiu iu khin cho b phn chuyn i tn hiu. ng dng CPU vo trong b iu khin rt khc nhau i vi tng nh sn xut. C th nh mt s trng hp sau y: (1) Dng nguyn mt my tnh nh (minicomputer) lm cng vic ca CPU. Nh sn xut Cincinnati Miclaron s dng loi my tnh ph bin thay cho b iu khin cc loi robot thu lc T3. (2) Dng cc m-un mch my tnh c sn nh Digital Equipment Corporation LSI-11 thit k mt my tnh s dng cho tng mc ch ring, hay lm cng vic ca mt CPU cho b iu khin robot. Cc robot PUMA ca nh sn xut Wesstinghouse/Unimation dng k thut ny cu to nn b iu khin. (3) S dng mt b vi x l 8 hoc 16 bit lm nn tng cho mt CPU. Nhiu nh sn xut Nht Bn lm theo k thut ny v nhiu nh sn xut cc b iu khin lp trnh (PLC) cng dng nhng b vi x l ny. (4) S dng mt my tnh ring giao tip vi b iu khin ca robot cung cp cc h thng lnh phc v cho cng vic lp trnh, thc hin cc tnh ton, x

l iu khin tay my. Hng phim IBM dng my tnh ca h iu khin kiu robot 7537 & 7545. My tnh Rhino RX-1- ca cc loi robot Rhino s giao tip vi mi my vi tnh qua cc cng RS 232 ca b iu khin. (5) Dng h thng mng ca cc b x l 8 hay 16 bit lin kt li vi nhau bng phn cng v phn mm thc hin cng vic ca CPU. B iu khin ca robot Acramatic Version 4.0 ca nh sn xut Cincinnati Miclaron cho cc m-un robot truyn ng in s dng kiu ny. Robot tr nn ph bin t khi cc my tnh 8-bt nh loi APPLE 2E tr nn thng dng. Cho n hin nay ngi ta vn cn s dng cc robot vi b vi x l 8 bit nh 6800 ca MOTOROLA hay Z80 ca ZILOG. Nhc im c bn ca nhng b iu khin u tin ny l bn cnh vn tc x l chm hn nhng b vi x l hin nay, chng cn b gii hn dung lng b nh m chng c th gi thng tin n. iu ny lm gii hn kh nng lp trnh cng nh hn ch mt s v tr trong vng khng gian lm vic m robot phi nh trong ch hun luyn. Nhiu robot hin nay c trang b b x l 16-bit c km theo b ng x l phc v cho vic tnh ton. c s dng nhiu nht l cc b vi x l h INTEL 8086 v 8088 (ph bin trong h cc my vi tnh IBM), tc x l gia tng v vic gia tng s b nh a ch cho php iu khin tt hn cc yu t vn tc v gia tc ca tay my v cho php khai thc ht cc cng nng ca ngn ng lp trnh cho robot. Nh nhng u im ni trn, cc my vi tnh IBM to ra mt tiu chun cng nghip, trong ng k nht l cho php cc my tnh c kh nng trao i thng tin vi nhau. Trong giai on ny, lp trnh khng-trc-tuyn (offline) vi chng trnh c vit trn my tnh sau truyn cho b iu khin robot tr thnh mt c im chung. Cc b vi x l 42-bt l b no cho cc b iu khin ca th h robot hin i nh kh nng tng tc x l v dung lng ca b nh. My tnh 42-bit cho php ghi nh c mt s lng ln cc v tr, iu ny cn thit cho cc robot

iu khin theo ng dn lin tc (continnuos path) nh robot hn v robot sn. C nhiu b xi x l 42-bit c a chung nh h MOTOROLA 680x 0m, nh 68030, 68040..., c dng trong cc mng my tnh APPLE v MACINTOSH; hay h Intel 80x86, nh 80386, 80486, ... c dng trong cc my tnh IBM. 2.2.2 B nh B nh dng lu gi chng trnh v nhng thng tin phn hi t mi trng thao tc. Cc my tnh 8-bit c th gi thng tin n 64 KB b nh. Cc my tnh 16bit thng b gii hn 1 MB, trong khi cc my tnh 42-bit c th thc hin vic gi thng tin n b nh 4 GB. B nh ny khng ch dnh cho ngi lp trnh lu gi chng trnh. Trong phn ny chng ta s tho lun vi thng tin khc c lu trong b nh ROM v RAM ca robot. Cc b nh ROM c cung cp cho cc robot chim gi mt phn b nh. Cc chng trnh xut/nhp c bn nm trong b nh ROM. Cc chng trnh ny cho php my tnh nhn v chuyn thng tin vi cc mch giao tip ca cm bin, mch giao tip ca cc c cu tc ng, mch truyn thng ni tip, bn phm, mn hnh v cc b iu khin lp trnh trong ch hun luyn (teach pendants). ROM cng cha cc chng trnh iu khin servo cho php tnh ton tn hiu ra dch chuyn tng trc n v tr yu cu hoc iu khin vn tc, gia tc v mnen cn thit. Chng trnh iu khin servo s dng tn hiu phn hi t cc cm bin tnh ton v xc nh sai lch gia v tr (vn tc, gia tc, mmen) hin ti vi v tr yu cu. Mt s hng sn xut robot gia tng tc cho robot bng cch trang b thm card x l nh l mt my tnh ring cho tng trc iu khin theo c ch servo. Cc my tnh con ny chp hnh cc lnh iu khin ni suy t b vi x l ca my tnh ch (b iu khin ch). Hu ht cc b iu khin robot c km theo cc chng trnh trong b nh ROM cho php qun l c ton b chuyn ng ca robot. Cc c im iu

khin chuyn ng ny cho php lin kt chuyn ng gia cc trc, chng hn nh cc trc s cng khi ng hoc cng dng hoc duy tr gi tr tc ca cc trc. ROM phi cha cc chng trnh khi ng h thng. H thng khi ng cho php ngi s dng a ra cc lnh nh run, learn, edit, v.v... T chc b nh trong iu khin robot
Ni dung b nh Cc chng trnh xut/nhp c bn (gi v nhn d liu n cc thit b xut/nhp) Cc chng trnh iu khin servo (v v tr, tc v mmen ca cc c cu tc ng) Cc chng trnh iu khin chuyn ng (cung cp cc d liu im iu khin v to ca cc trc cho cc chng trnh iu khin vervo) Cc chng trnh vn hnh h thng (bin dch v thc hin cc lnh t ngi s dng) Cc chng trnh ng dng (bin dch v thc hin cc lnh trong chng trnh ca ngi s dng) Cc chng trnh do ngi s dng son tho Cc v tr c lp trnh trong ch hun luyn Gi tr ca cc bin iu khin Cc thng s iu khin robot Vng nh d tr Vng hot ng tnh ton ca RAM Cc thit b xut/nhp (c x l v s dng nh l b nh mt s my tnh. Phn cng RAM ROM Kiu b nh

Cui cng ROM cn km theo chng trnh ng dng p ng vic hng dn cho ngi vit chng trnh. Cc mc khc nhau ca chng trnh ng dng cng cho php ngi s dng vit, son tho v kim tra chng trnh trc khi cho chy hoc bin dch cc lnh ca chng trnh sang dng ngn ng

my m my tnh c th hiu c. Cc chng trnh ng dng cng cho php ngi s dng dy (lp trnh cho robot trong ch hun luyn v iu chnh li cc v tr, cc ng dch chuyn v gi tr ca bin s. Khng phi tt c cc chng trnh ng dng c bit c b tr ROM. Mt s chng trnh c th np vo b nh RAM khi cn thit, t b cha chng trnh bn ngoi, a mm chng hn. Bng cch b nh t b chim ch. Phn cn li ca b nh a ch c th c dnh ton b hoc mt phn cho b nh RAM. Mt s nh sn xut ch km theo mt s lng ti thiu cho RAM v ch bn km thm theo khi khch hng yu cu. B nh RAM c cng dng lu chng trnh ca ngi s dng, s dng trong ch hun luyn, lu gi gi tr cc bin hin hnh, cc thng s ci t v cc d liu lm vic c yu cu bi chng trnh t b nh ROM. Cc thng s ci t c s dng bi cc chng trnh iu khin chuyn ng. Chng c th km theo cc gi tr c t bi ngi s dng hoc chng trnh ca ngi s dng nh tc , khong cch gia cc hm kp ca tay gp hoc cc thng s iu chnh c im vn hnh khc ca ngi s dng. 2.2.3. B xut/nhp B xut nhp dng a chng trnh vo b x l v kim tra, theo di hot ng trong qu trnh thao tc. Cu hnh ca b xut/nhp thng bao gm bn phm, mn hnh, cc bo mch c b tr cc cng giao tip xut/nhp dng ni tip v song song v pa-nen iu hin cng c xem l mt b phn xut/nhp. B iu khin phi xut tn hiu ra iu khin vic cung cp nng lng cho cc c cu tc ng ca tng trc. Thng thng tn hiu xut t b iu khin dng d liu nh phn c dng c DC hoc cc van servo. Tng t nh vy, c ch iu khin vervo cho tng trc yu cu b iu khin (my tnh) nhp vo cc thng tin phn hi t cc cm bin c th l tn hiu analog thng qua b chuyn i A/D bin thnh tn hiu s cung cp cho b iu khin.

Teach pendants l cc pa-nen iu khin cho php ngi s dng iu khin trc tip cc chuyn ng ca robot bng tay v gip cho b iu khin nh nhng v tr cn thit m robot phi thc hin. N c s dng trong ch hun luyn v c trang b cho hu ht cc robot. Cc robot n gin c th c lp trnh hon ton t panen iu khin vi cc nt bm cho php thc hin cc chc nng nh SAVE, EDIT, INSERT, RUN, v.v... v mt s lnh ng dng nh MOVE, READ INPUT, CLOSE GRIPPER, v.v... Nhiu robot c trang b b nh dng pin lu gi chng trnh khi mt in. Nhng ngay c nh vy chng trnh c son tho nn c ct gi bng a mm hoc EEPROMs trong trng hp RAM b xo. Do vy, nhiu b iu khin c trang b a mm, a c bng t hoc cm cho EEPROM. Hu ht cc robot cho php cc cm bin c ni trc tip vi b iu khin hoc thng qua mch giao tip. Nu robot c cc cng ni tip, nhiu c im k thut giao tip tn hiu s c th thc hin c. Cc chng trnh ng dng ca robot c th cha cc lnh cho php robot nhn d liu t mt b iu khin khc (hoc t cc thit b ngoi vi thng minh nh cc b c m vch barcode reader) v p ng tng h i vi nhng thng tin nhn c. Robot cng c th gi i cc thng tin quan trng (nh kt qu vic thc hin thao tc th nghim trn sn phm) cho cc b iu khin khc nh cc cng ni tip. Cng ni tip cng cho php ni kt robot vi mng my tnh. iu ny cho php cc my tnh trong mng lp trnh trong ch off-line gi cho robot. ng thi cn cho php ngi lp trnh kim tra li hoc m phng hot ng ca robot v hiu chnh trc khi cho robot chy trong ch t ng. Cc chng trnh c th np t my tnh PC sang b iu khin ca robot thng qua truyn thng ni tip nh phn mm. ng thi cc chng trnh, v tr hin hu ca robot, gi tr ca cc bin iu khin v thng tin ci t t b iu khin robot c th chuyn ngc v my tnh PC.

Phn mm lp trnh off-line thng bao gm phn mm m phng thit b u cui cho php ngi s dng dng my tnh PC nh l mt thit b ra lnh iu khin cho b iu khin ca robot. Bng cch , phn mm lp trnh off-line cho php cc nh cung cp robot khng phi cung cp cc phn t tn km nh thit b u cui, a hoc mch giao tip EEPROM. T hot ng ca b iu khin robot trong h thng iu khin phn tn (cc h thng DCS - Distributed Control Systems) hoc trong mt mng cc b LAN thc hin truyn thng ni tip. iu ny bao hm ngha l robot c th c t di s iu khin ca mt my tnh ch c th ra lnh cho h thng vn hnh robot bao gm cng vic truyn chng trnh n robot, nhn cc bin, ra lnh hoc p ng cc thng bo t robot. Cng ni tip vi cc cng nng nh vy s l cng c cho php cc robot c tch hp rng ri, nht l trong cc h thng sn xut linh hot (FMS - Flexible Manufacturing System). 2.2.4- Cc loi b iu khin Mt cch tng qut c th phn loi k thut iu khin gm iu khin vng h (open - loop) hay cn gi l h thng iu khin khng c phn hi (nonservo system) v iu khin vng kn (closed-loop) hay cn gi l iu khin c phn hi theo c ch servo (servo system). (1) B iu khin robot trong h thng h Robot hot ng theo h thng h khng nhn bit c v tr khi n dch chuyn t im ny sang im khc.Trn mi trc chuyn ng thng c im dng mt vi v tr xc nh kim tra chnh xc dch chuyn. B iu khin ca h thng h thng gm cc c cu c kh bn trong robot, dng thit lp v tr chnh xc v cc thit b bn ngoi x l v truyn dn tn hiu tc ng cho cc c cu tc ng bo m cho vic tun t cc dch chuyn. Cc c cu nh v bn trong gm:

(1) Cc c chn hn ch hnh trnh c nh gii hn s dch chuyn ca c cu tc ng thu lc hay kh nn cui hnh trnh hay mt khong cch xc nh no . (2) Cc c chn hn ch hnh trnh c th iu chnh v tr. (3) Cc cng tc hn ch hnh trnh. (4) ng c bc c gc quay tu vo s xung cung cp. ng c bc t dng trong cng nghip nhng thng dng trong phn cng ph nh bn nh v, xoay cho robot, v.v... (5) Thit b bo m s tun t ca robot. (6) B lp trnh trng (drum-programmer): ngi ta iu khin tun t bng cch xp t cc cam ln b mt trang trng. Cc cam ny tc ng ln cng tc in hay cc van thu lc/kh nn. Chnh cc van ny kim sot s dch chuyn ca mi trc ca robot. Kim sot thi gian bng s lng cam s dng v tc quay ca tang trng. (7) Logic khi nn v cc phn t logic khi nn; thi gian tun t dch chuyn ca robot c xc nh bng cch lin kt hp l cc phn t khi nn. Cc b iu khin lp trnh (PLC- Programmable Logic Controller) l loi thng dng nht iu khin robot gp-v-t. S di y minh ho cch s dng PLC trong mt robot c tnh cng ngh thp in hnh. y PLC khng ch lm nhim v iu khin chuyn ng robot m cn c kh nng gim st cc cm bin v hin th cc n ch th.

iu khin Workcell Khi to chu k Th kim tra thit b ngoi i Robot kh nn: - C cu tc ng - Hm kp

Van kh M un xut B iu khin lp trnh

Hin th tnh trng hot ng ca h thng: - C cu tc ng - n bo - Mn hnh - Bo ng ci H thng cm bin: - Cng tc hnh trnh - Cm bin tim cn - Cm bin quay - Cm bin qu trnh (lc, p sut, nhit , lu lng) - Cm bin khc.

M un xut

Thit b lp trnh

B iu khin trong h thng h ny thng khng nhn bit c s dch chuyn t c v tr mi hay cha; tuy nhin, nh kt cu ca h c v s dch chuyn xc nh trc thi gian thc hin cc thao tc m bo s phi hp tng i chnh xc khi hot ng. Hn na, ngi ta cng lng trc rt t kh nng c tr ngi xy ra khi s dng kiu iu khin vng h trong cc ng dng mang tnh chun mc, ph bin. Tuy nhin, khi cn xc nhn v tr gii hn t c hay cha ngi ta dng b sung cc cm bin cui hnh trnh, v theo pht trin ln thnh h thng iu khin vng h c nhiu im dng. Robot s dng h thng iu khin h thng gp nht l loi gp-v-t hay cn gi l robot hot ng tng on. Mc d tnh thch nghi gim, song trong cng nghip robot loi ny vn c s dng nhiu do hiu qu s dng chp nhn

c v chi ph thc hin thp, do n ph hp cho cc h thng sn xut cn cng vic xp d vt liu. (2) B iu khin robot trong h thng iu khin kn Hnh 2.27a l s khi ca mt h thng iu khin kn (h thng servo) s dng trong iu khin v tr. y, mch iu khin c trang b hai loi cm bin l cm bin v tr v cm bin vn tc kim sot lin tc s thay i v v tr v vn tc trn mt trong su trc ca robot.

V tr yu cu

B so snh v tr

B so snh tc

Van servo hay SCR ng c Trc

B khuch i

B khuch i

Phn hi tc

My pht tc

Phn hi v tr

B m ho v tr

Hnh 2.27a- S khi ca mt h thng kn u im ca h thng servo (1) Kh nng nh v tt ca robot nh h thng iu khin servo s gim i phc tp ca tay gp. (2) Robot c kh nng thc hin nhiu chuyn ng c yu cu phc tp, ng thi c kh nng thc thi nhiu chng trnh p ng theo cc yu cu sn xut c trnh t thay i khc nhau, gip cho h thng sn xut c tnh linh hot cao. 2.3- Ngun dn ng Ngun dn ng thng c lp bn cnh t iu khin. Trn cc robot cng nghip c th s dng ng thi nhiu ngun dn ng nh in, du p, kh

nn. Tu theo dng ngun dn in ng c s dng trn robot m cu to ca phn ngun cung cp c th thay i rt a dng. Ngun dn ng cng l mt c im quan trng khc ca robot, ngun dn ng trong chng mc no nh hng n khng gian lm vic ca robot. Ngoi ra vic thay i ngun dn ng (m hin nay c ch to theo tng cm c trng) s gip nhanh chng thay i kiu, dng ca robot phc v cho nhng yu cu cng vic khc nhau. Ta s kho st nhng mu robot s dng cc ngun dn ng c trng ny. u im: (1) Lc nng ln (2) Tc chy m (3) Du p khng nn c, nn cc khp robot c th c kho cng mt v tr xc nh. (4) S dng cho iu khin servo rt tt. (5) T bi trn v t lm ngui. (6) Hot ng c th dng qu ti khng lm h hng h thng. (7) p ng nhanh. (8) An ton p sut chy n. (9) Tc ng m tc thp. Nh vy, theo nhng ch s vt l, robot vi truyn ng thu lc l loi c cng sut v ti trng mang ln nht. Cc xy lanh thu lc vi kt cu gn c th c lp t cc khuu tay gp v ngay c khu ni gi cung cp cc chuyn ng chuyn di v chuyn ng nh hng vi lc hot ng ln. Tuy nhin bn cnh u im nu trn, gi thnh ca loi ny cao hn cc loi dng truyn ng in hay kh nn. Ngoi ra truyn ng thu lc cn yu cu phi trang b bm, ng dn lu cht, h thng van v ngay c my thu lc to p sut cao ph tr.

Bn cnh tay my v b iu khin bng my tnh, robot c trang b thm bm, b cha du, b lc v b n p, cc van iu khin servo trong phn ngun dn ng. Robot vi ngun dn du p cng ch t c mt s u im gii hn. Khc vi ngun dn kh nn, th tch du hu nh khng thay i (khng nn c) di p lc; v du c th c bm di p lc cao, c th t t 3000 n 5000 psi; v vy, truyn ng du p c th t c lc ln v tc ng nhanh. Truyn ng thu lc cung cp cho robot kh nng mang ti ln v chnh xc. c dn ng di p lc cao, cc robot du p c th iu chnh c sai s v tr b mt cch nhanh chng v chnh xc nh cc van iu khin servo dng vi phun l chn, truyn ng du p cn c u im l m. Hn ch ca ngun dn du p (1) Chi ph cho mt h thng du p thng thng kh cao. (2) Khng thch hp cho c cu quay vi tc nhanh. (3) Cn c ng x du v b. (4) Kh gim kch thc h thng do p sut v tc du cao. (5) Ngun dn du p khng ph bin trong cc nh my nh cc ngun dn kh nn v in. (6) Chim ch trn mt bng nhiu hn cc ngun dn khc. (7) S r r du sau mt thi gian hot ng v c th tr thnh mi nguy hi gy chy trong ng dng hn ng. Cc thit b ph theo nh ng c in, bm cao p, bn cha, cc thit b iu khin lm tng nng lng tiu hao, chi ph ch to v bo tr. 2.3.2- Truyn ng kh nn y l loi c gi thnh thp nht, thng dng cho cc thao tc lp t chi tit trn dy chuyn lp rp. c im ni bt ca loi ny l trang b n gin (my nn kh c p lc thng dng vo khong 620 Kpa) v d iu khin. Vic thit k v lp t loi robot ny kh n gin do cc chuyn ng c lp c

thc hin bi cc xy lanh ring r hay bi cc m-un kh nn chuyn dng. im cn lu loi ny l chnh xc v tr lp li thp, nn trong h thng iu khin ngi ta thng phi iu khin gin tip qua b x l dao ng vi sai nhm dp tt nhng dao ng gy ra bi cc xung dao ng b tch lu cui hnh trnh ca cc xy lanh kh nn. Trong hu ht cc ng dng c cu tc ng kh nn hot ng vi hai v tr hn l s dng hi tip t ch iu khin t l bi v do tnh cht ca kh nn, khi iu khin cui hnh trnh th chnh xc v tr cng nh lp li kh tt nhng khong gia hnh trnh th rt kh t c. Nhiu nh my sn xut s dng kh nn nh mt ngun nng lng r tin . V l do ny, nhiu robot kh nn xut hin rt sm. Mt b lc n p- bi trn c b tr gia ng cung cp kh nn vi cc van iu khin nhm bo m mt p lc khi vi cht lng n nh cung cp cho cc xy lanh kh nn. Ta thy nhc im ln nht ca ngun dn kh nn l khng c kh nng tng tc hoc gim tc cho cc ti trng ln so vi cc ngun dn khc. Vic iu khin lin tc t chnh xc v v tr vi ngun dn kh nn cng khng thc hin c. Trong mt h thng iu khin vng kn (c phn hi), qun tnh ca c cu tc ng bng ngun dn kh nn lm cho h thng mt n nh. C cu tc ng vi ngun dn kh nn gy n do kh c x ra p sut cao. Mt nhc im na ca kh nn l sinh nhit v nhit lng ny s c truyn ra mi trng khi kh b x. Hin nay hng Festo c a ra h thng iu khin v tr bng kh nn dng servo t chnh xc nh v n 1/10mm (cng chnh l sai s nh v), tuy nhin, cha c trin vng ng dng nhiu trong thc t k thut. Nh nu phn trn, ngun dn kh nn thch hp trong iu khin gp t v lm ngun dn ng cho cc tay gp ca robot. u im (1) Gi thnh khng cao (2) Kh thi khng gy nhim mi trng

(3) Ngun kh nn ph bin trong cng nghip (4) Thch hp cho thit k robot dng m-un (5) C cu tc ng c th dng m khng h hng. Nhc im (1) p sut kh nn gii hn s iu khin v chnh xc (2) Khi x gy n (3) Khi b r r gy tr ngi cho h thng (4) Cn phi c b lc lm kh ngun kh nn (5) Kh iu khin tc 2.3.3- Truyn ng in c Vi nhng cng vic i hi chnh xc, loi robot vi truyn ng in t ra c dng nht v chng cho php bo m c chnh xc dch chuyn cao v kh nng thc hin nhng thao tc phc tp. u im (1) C cu tc ng nhanh v chnh xc (2) C kh nng p dng k thut iu khin phc tp cho cc chuyn ng. (3) Gi thnh khng cao (4) Thi gian trin khai h thng robot mi nhanh (5) Nhiu ng c c mmen quay cao, trng lng gim, v thi gian p ng nhanh. Khuyt im (1) Bn cht l tc cao (2) Khe h b truyn bnh rng lm gim chnh xc (3) Gy qu nhit khi h thng b dng hot ng do qu ti (4) Cn phi c thng ghim v tr cc khp. Ta c th chia loi ny lm hai nhm theo dng ng c trang b cho chng. Nhm th nht:

Dng ng c bc (stepper motor) thc hin nhng chuyn dch gc chnh xc di tc dng ca cc xung in p n v. Dch chuyn gc ca robot ca cc ng c bc t c chnh xc cao nu mmen ti trng khng vt qu m men gii hn ca ng c. Nhm th hai: Dng ng c ph tr vi ngun in DC. Trong trng hp ny nht thit phi c lin h ngc gia ngun dn ng (ng c) vi phn dch chuyn (chp hnh) ca robot. Phn ln cc robot c s dng trn th trng s dng ngun dn l cc ng c in. Ngun dn in c cc c im l tc ng kh nhanh, chnh xc, sch v m. ng c in cung cp mmen quay tt hn cc loi khc. im kh khn l kh nng ti hay mang ti ca h thng ny thp hn so vi h thng thu lc. Cc dng ng c in thng c s dng trn robot gm: (1) ng c bc L loi ng c c s dng rt sm trong vic ch to cc robot th nghim. ng c bc c s dng trong iu khin vng h (khng phn hi) khng cn trang b cm bin phn hi v v tr v vn tc v mi xung tc ng c thit k v kim sot rotor ca ng c bc quay mt gc xc nh. Trong thc t, khi s dng cn lu l nu mmen tc ng ca ng c bc khng thng ph thuc ti hoc qun tnh ca ph ti, ng c s khng lm vic d nhn xung iu khin. Hin nay cc robot s dng trong cng nghip hu nh khng cn s dng ng c bc. Nhng vi nhng ci thin s c thc hin, trong tng lai ngi ta d on ng c bc s c trang b tr li vi iu khin vng kn. ng c bc nam chm vnh cu cu to bi rto l mt nam chm vnh cu v stato l cc cun dy. Cp in cho cun dy stato s to ra mt vng in t c cc cc Bc v cc Nam v stato s to ra mt vng t trng s lm rto t

quay lch i mt gc xc nh (mt bc). Chng ta c th thay i vng t trng bng cch kch hot theo trnh t hay kch tng bc cun dy stato to ra chuyn ng quay ca rto. Trnh t cc bc cho mt ng c bc hai pha; bc 1, pha A ca stato hai t cc c cp in, rto b kho v tr nh hnh v, v khc cc ht nhau; bc 2, khi pha A b ngt in v pha B c cp in th rto quay 90o theo chiu kim; bc 3, pha B b ngt in v pha A c cp in tr li, nhng ngc chiu vi bc 1 th rto quay tip 90o, bc 4, pha A b ngt in v pha B c cp in, nhng ngc chiu vi bc 2. Lp li cc bc trnh t trn s lm cho rto quay tng bc 90o. Phng php kch t nh trn gi l phng php kch mt pha (one phase on). Mt phng php thng c s dng hn l phng php kch hai pha (two phase on); c hai pha ca ng c lun lun c cp in; tuy nhin, ti mt thi im ch c mt pha mi b thay i cc tnh, tc l thay i cc tnh tun t hai pha . c cc gc quay nh hn cn phi c nhiu cp cc hn trn stato v rto. S cp cc trn stato v rto nn nh nhau. Trnh t bc ca ng c bc hai pha m t nh trn a n hai cch ni dy cho ng c bc: Bipolar (hnh 2.38) v Unipolar (hnh 2.39).
Bipala r Step 1 2 3 4 1 CCW Rototion

Q2-Q3 ON OFF OFF ON ON

Q1-Q4 OFF ON ON OFF OFF

Q6-Q7 ON ON OFF OFF ON

Q5-Q8 OFF OFF ON ON OFF

Hnh 2.38- S ni dy kiu Bipolar cho ng c bc hai pha

CCW Rototion

Bipala r Step 1 2 3 4 1

Q1 ON OFF OFF ON ON

Q2 OFF ON ON OFF OFF

Q3 ON ON OFF OFF ON

Q4 OFF OFF ON ON OFF

Hnh 2.39- S ni dy kiu Bipolar cho ng c bc hai pha (2) ng c DC Hu ht cc robot hin i vi h iu khin vng kn, c phn hi t cm bin lp trn mi trc, c dn ng bi ng c DC c chi than (dng nam chm vnh cu) hoc khng chi than. ng c DC to mmen t l vi cng dng in nhn c t ngun cp. Phn ln cc ng c DC truyn thng c thit k c phn ng (rto) nh gia tc nhanh, nhng ngc li rto nh khng sc chu ng cng , dng cao. gii quyt vn ny, trn robot ngi ta s dng cc ng c tc ng nhanh vi phn ng nh v s dng hp gim tc c t s truyn hp l cn bng ti u gia mmen v gia tc. Hn ch ch yu ca ng c DC servo c chi than l cun dy phn ng cn c chi than to cc tip im cp in cho cun dy phn ng t b iu khin. Cc hn ch bao gm chi than b mn do tip xc, pht sinh tia la in, dng v in p cp b gii hn, mmen qun tnh ca rto ln, ng c thot nhit kh khn v phn ln nhit xut pht t phn ng. Tt c cc hn ch trn c khc phc bng cch dng ng c DC servo khng chi than. ng c C khng c chi than l dng ng c DC tiu chun c ci tin. Cc ng c ny c thit k hi khc vi loi ng c DC truyn thng vi nam chm vnh cu. Cc cun dy trong phn ng ca ng c c th kh nng lm cho ng c kh gia tc nhanh nhng t c momen ln. Rto ca ng c khng chi than l mt nam chm vnh cu, cun dy l stato, v mt mch in t thay th tc dng ca chi qut. S thot nhit stato

CCW Rototion

CCW Rototion

hu nh ton b thng qua v ng c. Vic b c cun dy v chi than lm gim mmen ca roto v cho php tc ng c cao hn. Vi mch in thay th chi than cho php cp in c dng v in p cao hn vo cun dy. Stato thng l ba cun dy hay ba pha. B iu khin ng c DC servo khng chi than dng mt b khuch i dng iu bin rng xung (PWMPulse Width Modulation) to ra dng in ba pha hnh sin trong ba cun dy stato. Cc b iu khin khc c mch iu khin to dng in sng vung ba pha n gin hn loi trn, nhng ng c hot ng khng m nh tn hiu sin ba pha. (3) ng c AC ng c AC cm ng cng c s dng trn robot nhng khng c nhng u im nh cc ng c DC. ng c AC servo thng s dng trn cc h thng iu khin c cng sut nh. u im chnh ca ng c AC so vi ng c DC l kh nng dng ng ra ng b AC, cc loi cm bin bin th vi sai (LVDT - linear Varible Differential Transformer), v cc thit b do AC khc m khng cn gii iu bin tn hiu sai lch. Mt mch khuch i AC c li i vi iu khin t l; tuy nhin, cc iu khin tinh vi hn, nh iu khin tch phn v vi phn, th kh ng dng i vi tn hiu AC. Trong trng hp ny th tn hiu AC thng c bin iu, v cc tc ng iu khin p dng ln tn hiu DC, sau tn hiu DC hiu chnh c chuyn tr v tn hiu AC. ng c AC servo l mt ng c AC cm ng thun nghch hai pha c ci tin ph hp vi cc tc v servo. S mch n gin ca mt ng c AC servo trnh by trn hnh 2.44. ng c gm mt roto cm ng v hai cun dy to t trng t lch nhau 90o. Mt cun dy to t trng chun c nh, cun dy cn li to t trng iu khin. Tn hiu sai lch AC khuch i c p vo cun iu khin. Tn hiu ny c bin thay i vi gc pha l Oo hay 180o. Mt in p AC c bin khng i c p vo cun dy to t trng chun thng qua mt mch to lch pha -90o. Hai tn hiu trn nh sau: ec = Vccost

er = A cos(t - 90o) = A sint Trong : ec : tn hiu in p t vo cun iu khin er : tn hiu in p t vo cun chun : tn s ngun in Vc : bin thay i ca tn hiu iu khin A : Bin khng i ca tn hiu chun
rto

Hnh 2.44- S nguyn l mch ng c AC servo 2.3.4- Truyn ng hn hp Trn thc t ngi ta thng s dng nhng u im ca tng loi truyn ng mt cch hp l vo tng bc chuyn ng ca robot c thit k theo yu cu ca khch hng. V vy, trn mt robot thng gp ng thi nhiu dng truyn ng. c bit l tay gp ca robot cc truyn dn rt a dng nh kh nn ht chn khng hay in t. 2.4- Cc dng iu khin tay my Theo dng kt hp chuyn ng ca cc chuyn ng c lp trn tay my, vic iu khin tay my c chia thnh cc dng chnh sau: (1) H iu khin ri rc hay cn c gi l iu khin theo im hoc iu khin im-ti-im (point-to-point). (2) H iu khin theo ng dn lin tc (hay iu khin theo chu vi Continuous path). Cch phn loi ny tng i thun tin da trn cch thc m b iu khin kim sot ng dn hay qu o trong dch chuyn ca cc khu trn tay my. B -

ec = Vccost

er = A sin t

iu khin s thng qua ng dn hng dng c cng ngh i qua cc im lp trnh trong qu o tay my. C bn kiu ng dn t n gin n phc tp nh sau: ng dn tng on (stop-to-stop) ng dn tng im (point-to-point) ng dn lin tc (continuous path) ng dn iu khin (controlled-path) Trong nhng h iu khin ri rc, chuyn ng ca tng trc c thc hin di dng dch chuyn tun t a tay my dch chuyn sao cho khu tc ng cui i n nhng to ca mt s im hu hn c lp trnh. iu khin theo cc im ri rc bao gm hai kiu ng dn; tng on v tng im. 2.4.1- ng dn tng on y l dng dn gin nht ca h iu khin ri rc; kiu iu khin khng c phn hi s dng cc c chn hoc cng tc hnh trnh v c s dng cc robot thuc th h u c hot ng theo chu k. Trong trng hp ny, s im c lp trnh cho mi trc thng l hai, tng ng vi im u v im cui trn hnh trnh ca trc; v chng c xc nh nh cc c chn hoc cc cng tc hnh trnh. in hnh cho loi ny l cc robot gp-t. 2.4.2- ng dn theo im L dng c a chung trong lp trnh cho cc robot cng nghip. ch hun luyn, thit b lp trnh chnh cho robot trong trng hp ny l pa-nen iu khin, cn c gi vi tn thng dng l teach-pendant. Khi lp trnh, ngi vn hnh s s dng pa-nen iu khin di chuyn c lp tng trc ca tay my ln lt n cc im phi i qua trong chng trnh cng ngh. Mi ln i qua mt im trong chng trnh, ngi lp trnh phi lu li v tr to ca im vo b nh. Cn lu l khi tt c cc im lp trnh c a vo b nh, b iu khin s x l, tnh ton v tr ca tay my vi cc to suy rng - cc dch chuyn gc th hin qua cc gc quay i hoc cc dch chuyn

thng th hin qua cc hnh trnh si ca cc trc thay cho to -cc (c th hin di dng cc gi tr to nh v X, Y, Z v cc gi tr gc nh hng , , ). Khi lp trnh, ngi vn hnh s s dng pa-nen iu khin di chuyn c lp tng trc ca tay my ln lt n cc im pht i qua trong chng trnh cng ngh. Mi ln i qua mt im trong chng trnh, ngi lp trnh phi lu li v tr to ca im vo b nh. Cn lu l khi tt c cc im lp trnh c a vo b nh, b iu khin s x l, tnh ton v tr ca tay my vi cc to suy rng - cc dch chuyn gc th hin qua cc gc quay i hoc cc dch chuyn thng th hin qua cc hnh trnh si ca cc trc thay cho to -cc (c th hin di dng cc gi tr to nh v X, Y, Z v cc gi tr gc nh v , , ). cc robot cng nghip hin i, s im lp trnh cho mi bc chuyn ng thng t vi chc cho n vi trm, robot s dng trong cc dy chuyn sn xut cc khung xe -t l mt v d. Ngoi ra, tuy l dng iu khin t im-tiim, chuyn ng ca mt s khu trn tay my c th c thc hin ng thi. iu cn phn bit y l ngay c trong trng hp ny, ngi s dng ch quan tm vic a tay gp hay khu tc ng cui i n nhng im xc nh ri rc thc hin mt qu trnh thao tc yu cu no m khng quan tm n qu o chuyn ng gia cc im lp trnh. a s robot lm vic tt ch iu khin theo im. Trong ch iu khin ny, chuyn ng ch yu cu t ti v tr mc tiu, khng quan tm n qu trnh trung gian. Cc robot iu khin s u tin ch c th x l iu khin tng trc tng thi im, ngha l, cc trc c iu khin tun t cho n khi t ti v tr yu cu. cc b iu khin hin i cho php thc hin iu hin nhanh hn v c th iu khin ng thi cc trc; ngha l khi c mt lnh chuyn ng c a ra, tt c cc trc vn hnh vn tc ln nht hng ti v tr mi v mt s trc s kt

thc vn hnh trc cc trc khc. Tu nhin, kiu iu khin theo im khng lin kt ng b chuyn ng ca cc trc hin nay cng t dng. Kiu iu khin lin kt chuyn ng ng thi ca cc trc yu cu sao cho cc trc ng thi dch chuyn v ng thi kt thc (hnh 2.45d). thc hin iu ny, b iu khin phi tnh ton tc vn hnh ca cc trc, ng thi xc nh gia tc chuyn ng sao cho vn tc cc trc t gi tr ln nht gia hnh trnh chuyn ng ca tng trc, sau gim tc na hnh trnh cn li ng thi dng cng lc. Cng vic va m t trn y ca b iu khin c thc hin nh c ch ni suy, tng t nh cc my NC v CNC. Theo kiu iu khin ny hot ng ca robot to cm gic nh nhng nhng khng th tc ng nhanh nh c th. Loi ny c s dng kh ph bin trong cng nghip v s c trnh by chi tit hn mc ng dn iu khin. B iu khin theo im c th cha hng ngn im lp trnh, tu theo dung lng ca b nh v c th cha nhiu chng trnh khc nhau, nh robot c th nhanh chng thay i c cc chuyn ng ca n p ng cc yu cu sn xut thay i trong cc t bo sn xut t ng linh hot dng Workcell. Ly v d, b iu khin xut tn hiu iu khin mt tay gp trong mt chng trnh kim tra sn phm. Khi pht hin sn phm khng t tiu chun, tay gp phi chuyn chi tit sang thng ng ph phm thay v sang mt bng ti di chuyn n trm gia cng tip theo. Qu trnh ny thc hin hai on chng trnh trong b iu khin. Hnh 2.47 trnh by mt loi robot c cng dng chung in hnh v kiu iu khin theo im. c im ca kiu iu khin theo im l chng trnh iu khin tng i ln nhng thi gian v cng sc b ra cho cng vic lp trnh khng qu lu theo phng thc nh m t. im hn ch ca n chnh l thiu s iu khin theo ng thng. iu ny c l gii theo nguyn tc hot ng ca n; trc tin, nu cn dch chuyn n mt v tr no th cc trc thc hin chuyn ng nh hng, thc hin cc dch chuyn ln nht c th c: sau cc trc chuyn

ng nh v - cc chuyn ng chnh tn nhiu nng lng hn - dch chuyn t hn. Nh vy c th thy kiu ng dn iu khin ny ch thch hp cho vic vn chuyn vt liu hay lp rp chi tit, cn i vi cc trng hp s dng nhng qu o lin tc bo m chnh xc cng ngh nh l hn theo ng hoc cc ng dng cn kim sot theo ng thng th bt buc cc im lp trnh phi rt gn nhau. iu ny cng c th thc hin c kiu iu khin t- im - ti im, nhng chnh xc khng cao v mt nhiu thi gian lp trnh cng nh thi gian hot ng ca robot theo chng trnh c lp ra theo kiu ny. Mt c im ng lu l vic la chn kiu iu khin theo im cn ph thuc vo nhiu yu t nh k thut iu khin tng ng vi ngun dn ng, dng hnh hc v chnh xc yu cu ca qu o, v.v... Nhng s dng ph bin nht kiu iu khin ny l cc robot ton khp quay (jointed-spherical) hoc dng SCARA vi chnh xc lp li v tr trong khong sai lch +0,05mm. 2.4.3- ng dn lin tc (continuous path) ng dn lin tc l tp hp ca tt c cc im nm k nhau, S khc nhau chnh gia iu khin tng im v iu khin ng dn lin tc l s lng cc im lp trnh v phng php lu cc im lp trnh vo b nh. Trong chng trnh theo im ngi lp trnh a robot n v tr xc nh v nhn nt ghi chng trnh (insert) - tng im trong ng dn lp trnh c ghi nhn nh th v chng trnh hon thnh sau mt chui cc im ; nh vy, b iu khin theo im a robot i t im ny sang im kia. Tri li, trong lp trnh ng dn lin tc, ngi lp trnh ch ra ng dn bng cch s dng teach-pendant hay bng cc thit b nh b lp trnh trn thit b m phng (simulator), lp trnh theo cch dt mi (lead-bynose), hay bn phm kim sot v tr ca tay my. Nh vy, cc robot c ng dn lin tc c th c cc im nhn c khi lp trnh trong ch hun luyn, trn mt ng dch chuyn c a vo b nh. Sau , cc im nt - cc im c to c lu vo b nh trc -

s c a ra tun t bi b iu khin robot cho cc trc ca robot khi thc hin chng trnh. Robot c th thng xuyn c iu khin thc hin nhng on dch chuyn thng hoc theo cung trn t nt ny ti nt k tip. Khi hot ng ch hun luyn, nt ghi chng trnh hot ng ng thi vi s di chuyn t lc bt u cho n cui ng dn. Lc b iu khin s ghi v tr cc im vi tc t 6 im giy tr ln. Vi kiu iu khin ny thc hin mt chng trnh gn c th phi s dng mt dung lng rt ln ca b nh.
Phn hoch Qu o yu cu 1, x1, y1, z1, 1, 1, 1 2, x2, y2, z2, 2, 2, 2 k, xk, yk, zk, k, k, k n, xn, yn, zn, n, n, n Ni suy Gii bi ton ngc xc nh cc dch chuyn gc , hoc/v dch chuyn tnh tin s1 ca cc khu trn tay my.

Hnh2.48- S minh ho qu tnh phn hoch v ni suy. Mc d vic chy mt chng trnh iu khin lin tc tng t nh trng hp ca cc robot th h u tin s dng b iu khin analog nhng im khc bit l vi iu khin s (digital) c th loi tr s nhm ln ch phi thc hin xong im nt trc mi thc hin tip im nt sau. Thch thc ln m cc robot loi ny thc hin c khc vi cc loi th h u l to ra chuyn ng m khng b dng mi im nt ng thi gim ti thiu vic b lch hng khi ng dch chuyn m robot hc trong ch hun luyn nh vo c ch iu khin servo s c trnh by phn sau. Robot c ng dn lin tc c s dng ch yu trong vic sn v hn. 2.4.4- ng dn iu khin (controlled path) Robot c ng dn c iu khin l h thng iu khin theo im c trang b thm kh nng im sot v tr ca tay gp dch chuyn gia cc im lp

trnh. Ngi ta lp trnh cho h thng ny nh cch lm i vi robot iu khin theo im; ngha l, dng teach-pendant ghi nhn tng im trn ng dn. im khc nhau l chng trnh qu o c thc thi khi l chuyn ng thng gia hai im lp trnh. Trong trng hp ny, vn tc gc trong dch chuyn ca cc trc c iu khin sao cho t l thun vi gi tr ( ln) ca gc quay ca chng; ngha l trc c gc quay ln c dn ng nhanh hn trc c gc quay b, bo m sao cho qu trnh thc hin mt qu o no ca tay my - cng l qu trnh thc hin cc gc quay c bt u v kt thc cng mt lc. Gi t l thi gian thc hin dch chuyn gia hai im lp trnh, ta c: t = i / i = sj / vj trong : - i : l gc quay ca trc th i - i : l vn tc gc ca trc th i - sj : l dch chuyn thng ca trc th j - vj : l vn tc di ca trc th j - i, j : l - n Cc lnh iu khin chuyn ng gip cho b iu khin tnh ton mt lot cc im tm thi hoc trung gian gia v tr hin ti vi v tr phi dch chuyn n. Cc v tr trung gian s c cung cp tun t cho cc b iu khin servo ca tng trc nh khi ni suy trong b iu khin. Chuyn ng kt qu gia hai im lp trnh l ng dn thng m khng cn s kho lo ca ngi lp trnh. Hu ht cc robot c ng dn iu khin thc hin c vic ni suy ng thng, cho php robot dch chuyn i tng thao tc theo qu o thng gia hai im bt k trong vng khng gian hot ng. Mt s robot thc hin c vic ni suy cung trn thc hin cc qu o cong. Mt s t khc thc hin c cc php ni suy tinh vi hn nh cc qu o parabol hoc xon c, v.v...

Cc robot c ng dn iu khin hin nay cn c trang b kh nng thc hin mi qu o cong m h thng CAD v c. Thm vo , vn tc gia cc im trong chng trnh c th c tnh ring dc theo di chuyn ca dng c cng ngh chng hn nh trong kiu hn ng u a. Vi cc b iu khin hin nay, vic tnh ton thi gian phi hp thc hin chuyn ng ni suy (t) cho php tr hon cc chuyn ng phi hp theo ng qu o ni suy vi mt sai s tch lu khng ng k sau mt hnh trnh dch chuyn di. Mt li im ca robot c ng dn iu khin l chng c th t tnh ton dch chuyn tun t m trc chng khng c hc trong ch hun luyn. Cc robot dng ny hin nay cn c trang b kh nng c th s dng thng tin t cc h thng vision, chng hn nh tm v gp cc chi titc hng nm ngu nhin trn bng ti. Tt c cc kh nng ny l thnh qu ca s pht trin ca b iu khin thng minh kt hp vi cc tin ch trong son tho, lp trnh nh sa li chng trnh, d on s c, s dng b nh ph khi cn thit v tng cng vic kim sot b phn cng tc trn u cnh tay robot. Trn cng mt robot c th s dng ng thi cc iu khin trnh by. Ngoi ra, trn cc h thng sn xut, ngi ta cn phn bit h iu khin ring cho tng robot hoc h iu khin chung mt nhm robot. Nhng im ni thm v iu khin ng dn theo c ch servo S ci tin v cht lng ca cc b iu khin servo (my tnh tng t) c thc hin trn nhng robot cng nghip u tin trong nhng nm 40-50. Cc cm bin v tr c kt ni cho php cc th my lp trnh iu khin tinh xo hn v cc chuyn ng ca robot c ghi vo bng t. Sau cc bng t s bo li cc tn hiu iu khin v tr cho cc ng c thc hin nhng chuyn ng lp trnh. Nhc im ca cc robot u tin ny l sau mt thi gian hot ng cc c im v ma st v qun tnh ca c h b thay i nn khng cn p ng ng vi tn hiu iu khin, dn n vic phi iu chnh tn hiu iu khin.

Cc robot th h mi gii quyt c cc vn ny nh c ch iu khin servo khng b nh hng ca ma st v qun tnh nh b iu khin dng my tnh s kt hp vi c ch iu khin t thch nghi. Tuy nhin, ta c th a ra lnh thay i v tr v ch n khi cc cm bin p ng hon ton hoc hu nh xong mt lnh iu khin mi xut lnh iu khin tip theo. Qu trnh thc hin mt dch chuyn bao gm cc giai on. (1) on u gia tc c iu khin chy m, tng dn n vn tc cc i ca chuyn ng. Vn tc ln nht c duy tr cho n khi cm bin v tr bo tn hiu sp ti v tr mc tiu. Khi qu trnh gim tc c thc hin nh khi tng tc. Trong trng hp dch chuyn ngn, vic gim tc c th c thc hin trc khi t ti vn tc n nh (vmax). (2) Mt cch l tng l vn tc gim dn ti khng kh t n v tr yu cu. Trong thc t, a s cc b iu khin robot cho php c mt khong vt qu (overshoot) v hiu chnh li ngay sau nhm t c thi gian chuyn ng ti u. (3) Mt s ngn ng robot km theo cc lnh cho php ngi lp trnh c th qui nh vn tc v gia tc ln nht.

Chng 3 NG HC ROBOT 3.1- Cc khi nim ban u V mt ng hc, c th xem tay my loi tnh ti nh l mt chui ng h vi mt khu c nh, gi l gi, v cc khu ng. Mi khu ng l mt vt rn c lin kt hoc ni ng vi nhau nh cc khp ng. d dng thc hin vic iu khin c lp cc khp ng, ngi ta thng s dng nhng loi khp ch cho php thc hin mt chuyn ng tng i gia hai khu c lin kt. Do , cc khp ng thng c s dng l cc khp loi 5 (p5) hai dng l khp tnh tin (khp trt) v khp bn l (khp quay). V vy, thng thng th c cu tay my c bao nhiu khu ng th s c by nhiu bc t do hay bc chuyn ng. 3.1.1- H to kho st chuyn ng ca cc khu, ta thng dng phng php h to tham chiu (reference frame) hay h to c s nh c hc l thuyt trnh by. Bng cch gn cng ln mi khu ng th k mt h trc to vung gc (Oxyz)k - cn gi l cc h to tng i v gn cng vi gi c nh h trc to vung gc (Oxyz)o - cn gi l h to tuyt i, h to tham chiu hay h to c s, ta c th kho st chuyn ng ca mt khu bt k trn tay my hoc chuyn ng c mt im bt k thuc khu. Theo , to ca im M thuc mt khu bt k, c xc nh bi bn knh vect rM(0). Vi cc thnh phn (hnh chiu) ca n trong h to c s (oxyz)0 ln lt l xM(0), yM(0), zM(0) c gi l to tuyt i ca im M. To ca im M thuc khu th k c xc nh bi bn knh vect

O k M vi cc thnh phn tng ng ca n trong h to (oxyz), gn cng

vi khu ln lt l xM(k), yM(k), zM(k) c gi l to tng i ca im.

Mu M l im c nh trn khu th to tng i ca M s khng thay i khi khu chuyn ng. Di dng ma trn ta c th biu din:
0 x (M ) 0 rM(0) = y (M ) = (xM(0), yM(0), zM(0))T; RM(k) = 0 z (M ) k x (M ) (k ) (k) (k) (k) T y M = (xM , yM , zM ) (3.1) k z (M )

Bng cch m t nh trn, ta c th coi tay my nh l mt chui cc h to lin tip c chuyn dng tng i vi nhau. Chuyn ng ca mt tay my thng l nhm lm thay i v tr v hng khu tc ng cui hay khu cui (end - effector) bng cch tun t cho khu cui i qua cc im xc nh no to ra cc hot ng c ch c hoch nh trc. V vy, khi kho st chuyn ng ca tay my, ngi ta thng quan tm n chuyn ng ca khu cui bao gm qu o hoc cc v tr i qua (hay tng qut l mt ng cong trong khng gian ba chiu), vn tc v gia tc chuyn ng ... m khng quan tm nhiu n chuyn ng ca cc khu trung gian (gi l cc khu thnh vin). Tht ra, v l mt chui ng, nhng phn tch di y s gip nhn nh r hn vai tr ca cc khu thnh vin. 3.1.2. Qu o Do tay my l mt chui ng h ca nhiu khu, ta d nhn thy rng c nhiu cch phi hp chuyn ng ca cc khu thnh vin lm thay i v tr ca cc khu cui bn trong vng khng gian hot ng ca n. Ni cch khc, tu thuc vo tp hp cc yu t chuyn ng, gi l cc to suy rng, c th l chuyn v gc cc khp quay hoc chuyn v di cc khp tnh tin ca cc khu thnh vin m ta c nhng cch khc nhau a cc khu tc ng cui ti v tr v hng mong mun. Gi q1, q2, ... qn l cc to suy rng tng ng vi cc yu t chuyn ng tng i gia cc khu, ta c th biu din:

xM = xM (q1, q2, ..., qn) yM = yM (q1, q2, ..., qn) zM = zM (q1, q2, ..., qn) Mt khi cp ti chuyn ng, bin c lp thc s ca cc to suy rng l thi gian t. Bng cch thit lp cc hm to trong (3.2) vi cc bin v tr l hm ca thi gian q = q(t) ta s c phng trnh chuyn ngca im M th hin di dng cc hm to XM = XM(t), YM = YM(t), ZM = ZM(t). S thay i v tr ca im M theo thi gian trong khng gian hot ng ca tay my cho ta khi nim Qu o (trajcetory) ca im. Bn c c th t lin h vic xy dng hm vect rM = rM(t) trn c s cc hm to thit lp). T nhng khi nim nu trn, ni dung ng hc c hai bi ton thng c t ra nh sau: Bi ton ng hc thun v bi ton ng hc ngc. 3.1.3- Bi ton ng hc thun Cho trc c cu v quy lut ca cc yu t chuyn ng th hin bng cc to suy rng q ta phi xc nh quy lut chuyn ng ca im trn khu tc ng cui ni ring hoc ca im bt k trn mt khu no ca tay my ni chung trong h trc to vung gc (h trc to Descartes). Bi ton ng hc thun tay my c ni dung gn ging nh bi ton Phn tch ng hc c cu. 3.1.4- Bi ton c hc ngc Cho trc c cu v quy lut chuyn ng ca im trn khu tc ng cui (hoc quy lut chuyn ng ca khu cui bao gm v tr v hng ca n) c biu din trong h trc to vung gc, ta phi xc nh quy lut chuyn ng ca cc khu thnh vin th hin thng qua cc to suy rng q. i khi, bi ton trong thc t c t ra gn nh mt bi ton tng hp ng hc c cu; ngha l bi ton ch cho trc yu cu hoc quy lut (3.2)

chuyn ng ca khu cui: ta phi xc nh cu to c cu tay my v quy lut chuyn ng q ca cc khu thnh vin. Thng thng bi ton thun c li gii duy nht, trong khi bi ton ngc c v s li gii (bi ton v nh) khi cho trc quy lut chuyn ng ca im trn khu tc ng cui bn trong vng khng gian hot ng ca tay my. Ring i vi cc v tr trn bin ca vng khng gian hot ng, trong mt s trng hp ta mi c li gii duy nht. Nguyn nhn ca vn l ch quan h gia to mt im q no trn khu tc ng cui (XP, YP, ZP trong h to vung gc, vi cc to suy rng q (vi i = 1, n khu ng) ngha l s m t v tr tng i gia cc khu thnh vin ch l nh ch l nh x theo chiu thun m khng c theo chiu nghch. Ngoi ra, c hai bi ton ng hc, ta khng ch quan tm n to ca mt im thuc khu tc ng cui m cn quan tm n c v tr v hng ca n trong h to vung gc; do , ngoi cc thng s to ca mt im P no thuc khu tc ng cui ta cn phi b sung ba gc quay Euler quanh ba trc to (/Z, /Y v /X) xc nh hng ca n (hnh 3.1). khng lm phc tp vn kho st, trong gio trnh ny cc bi ton ng hc s c nhc li ni dung tng phng php kho st c th. Khi gii quyt vn c nhiu li gii bi ton ngc ngi ta a ra cc rng buc v mt ng hc i vi cc tay my hot ng bn trong c vng khng gian lm vic ca n (gi l khng gian c bc t do tha redundancy) hoc t ra vn phi ti u ho hot ng ca tay my theo mt hm mc tiu no chn li gii ph hp nht.
Kch thc ng d v v tr ca cc khu thnh vin (to suy rng), q Bi ton ng hc Bi ton ng hc ngc Kch thc ng d v v tr ca cc khu thnh vin (to suy rng), q

Hnh 3.1- S m t khi nim ca cc bi ton ng hc tay my

3.2- C s l thuyt ca php bin i h to Php bin i h to c s dng bin i cc thnh phn ca vect khi chuyn t h to ny sang h to khc. V d, trong h trc to vung gc (OXYZ) c cc vect n v ln lt tng ng l i, J, k. Ta gi hnh chiu ca vect a theo cc hng i, j, k, (cng theo cc trc X, Y, Z) ln lt tng ng l a, a, a. Khi , khai trin vect a ta nhn c. a = ax + ay + az = axi + ayj + azk (3.3) Trong , ax l h s ca i xc nh c bng cch chiu c hai v (3.3) ln trc X, sau s dng nh l v hnh chiu ca tng hnh hc v ch rng cc hnh chiu ca j v k ln trc x u bng khng. Cc hnh chiu ax, ay, az c gi l cc to vung gc hay cc thnh phn ca vect a vi: ax = a.cos(a. x ), ay = a.cos(a, y ), az = a.cos(a, z ) (3.4)

Khi bit cc thnh phn ca vct a theo cc trc X, Y, Z, ta c th tnh thnh phn ca n theo hng u bt k. lm vic ny, ta ly hnh chiu c hai v ca phng trnh (3.1) trn hng u v s dng nh l v hnh chiu ca tng hnh hc, ta nhn c kt qu. au = ax cos (u, x ) + ay cos (u, y ) + azcos (u, z ) (35)

Nh vy thnh phn ca vect a theo mt phng bt k c th biu din qua cc thnh phn ca n trn cc trc ca mt h to vung gc, v ta cng nhn thy rng php biu din l tuyn tnh. Tnh cht ny c trng cho cc vect v l c s xc nh mt vect. Trong cng thc (3.5) ta thay au, ax, ay, az, bng cc biu thc ca n cng thc (3.4) v gin c a; ng thi, gi l gc gia hng ca cc vect a v u, ta tm c. cos = cos(a, u) = cos(a, x ) cos(u, x )cos(a, y )+cos(a, z )cos (u, z ) (3.6)

Ta nhn c cng thc ca hnh hc gii tch cho cosin ca gc gia hng a v u. Gi s ta bit cc thnh phn ca vect a trong h trc to (Oxyz) (hnh 3.2) l ax, ay v az. By gi c mt h trc to mi (Oxyz), xc nh bi ba vect n v i1, j1, k1 trc giao nhau. Cc thnh phn ca vect a h trc to mi ln lt l ax, ay , az. Hy th tm mi quan h gia cc thnh phn ca vect a trong hai h trc to (Oxyz) v (Oxyz)1. Hy xem cc hng x1, y1 v z1 nh hng u xt trn ta c th tm thy li gii cng thc (3.5) nh sau: ax1 = ax cos (x1, x) + ay cos (x1, y) + az cos (x1, z) ax1 = ax cos (x1, x) + ay cos (y1, y) + az cos (y1, z) ax1 = ax cos (x1, x) + ay cos (z1, y) + az cos (z1, z) n gin cch vit cc cng thc, ta c th a ra bng csin ca chn gc lp nn bi cc trc to c v mi nh sau: x1 x y z 1 1 1 y1 2 2 2 z1 3 3 3
x x1 0 z a y 01 y1 z1

(3.7)

Hnh 3.2- Quan h v v tr tng i gia hai trc to o v o1 1 = cos ( x 1, x ) 2 = cos( y 1, x ) 1 = cos( x 1, y ), v.v...

Trong , cc csin xc nh to ca cc vect n v. ix1 = 1.cos (x1, x) = 1, jx1 = 2 iy1 = 1.cos (x1, y) = 1, jy1 = 2 iz1 = 1.cos (x1, z) = 1 , jz1 = 2 mi theo cc trc c; tht vy: Ch rng gia chn csin ca bng trn hnh 3.2 tn ti su h thc, nh vy ch c ba csin c lp vi nhau (do ta c th nh hng mt tam kx1 = 3 kx1 = 3 kx1 = 3 (3.8)

din to theo mt tam din to khc bng ba tham s, nh bng ba gc Euler chng hn). Thc vy, theo cng thc (3.6) v (3.8) ta c th vit su h thc sau: 1 = cos(x1, x1) = cos2(x1, x) + cos2(x1, y) + cos2(x1, z) =
2 2 2 = 1 + 1 + 1 = 1

tng t

2 + 2 + 2 = 1 2 2 2
2 2 2 3 + 3 + 3 = 1

(3.9)

0 = cos(y1, z1) = cos(y1,x).cos(z1,x) + cos(y1,y)cos(z1,y)+cos(y1,z)cos(z1,z) = 23 + 23 + 23 = 0 tng t 31 + 31 + 31 = 0 12 + 12 + 12 = 0 Tng t, nu coi O1x1y1z1, nh h to c v Oxyz l h to mi th ta nhn c su h thc sau:
2 2 1 + 2 + 3 = 1 2 2 2 1 + 2 + 3 = 1 2 2 2 1 + 2 + 3 = 1 2

11 + 22 + 33 = 0 11 + 22 + 33 = 0 11 + 22 + 33 = 0 (3.10)

Tr li kt qa cc to mi ca vect a nhn c t biu thc (3.7), ta c th biu din di dng sau: ax1 = ax1 + ay1 + az1 ay1 = ax2 + ay2 + az2 az1 = ax3 + ay3 + az3 Ngc li, ax, ay, az c biu din qua ax, ay, az theo cc cng thc sau: ax = ax11 + ay12 + az13 ay = ax11 + ay12 + az13 az = ax11 + ay12 + az13 (3.12) (3.11)

T , xem nh mt trng hp ring ca php bin i to , ta c th nhn c php bin i cc to khi chuyn t mt h to ny sang mt h to khc c chung gc. Chn mt im M v ni M vi gc chung O ca c hai tam din to . Bn kinh vect r ca im M c cc to x, y, z trong h to ca v x1, y1, z1 trong h to mi. Theo cc cng thc (3.11) v (3.12) ta s c: x1 = 1x + 1y + 1z y1 = 2x + 2y + 2z z1 = 3x + 3y + 3z x1 = 1x1 + 2y1 + 3z1 y1 = 1x1 + 2y1 + 3z1 z1 = 1x1 + 2y1 + 3z1 (3.13)

Khi cho bit mt vecto bng cc thnh phn ca n trong mt h to no , ta ngm hiu rng cc thnh phn ca n trong mt h to mi bt k s c xc nh theo cng thc (3.7) hoc (3.11) ca php bin i cc to vect. Tuy nhin, cng c th cho mt vect bng phng php khc m ta cn phi tnh cc thnh phn ca n trong mt h to bt k. Trong trng hp ny, ta cn cn phi kim tra xem cng thc (3.11) c c tho mn hay khng khi thc hin vic chuyn i t h to ny sang h to khc. minh ho, gi s cc to x, y, z ca bn knh vect r l cc hm ca tham s t. Ta th xc nh cc thnh phn ca vect v mi theo cc cng thc: vx = dx/dt; Ta c: vx1 = dx1/dt = d(1x + 1y + 1z)/dt = 1dx/dt + 1dy/dt + 1dz/dt = 1vx + 1vy + 1dz (3.15) vy = dy/dt vz = dz/dt i vi mi h to , ta cn chng minh rng v qu l mt vect.

(1, 1, 1 khng cn ly o hm v l cc cin khng i ca cc gc gia trc x1 bt ng v cc trc x, y, z bt ng). i vi cc thnh phn khc ta cng nhn c cc cng thc tng t. Ni cch khc, v qu thc l mt vect. Ngoi ra, bn c cn ch thm mt h qu ca cc cng thc trnh by. Trong i s vect ta bit cng thc tnh di (gi l sut hoc cng ) ca mt vect qua cc thnh phn ca n: a2 = ax2 + ay2 + az2 (3.16) y v tri ca biu thc khng ph thuc vo h to m ta tnh ax, ay, az, v vy biu thc ax2 + ay2 + az2 lun gi nguyn gi tr ca n khi bin i t bt k mt h to vung gc ny sang bt k mt h to vung gc khc. Trong nhng trng hp ny, ta ni ax2 + ay2 + az2 bt bin i vi mi php bin i to . 3.3. Phn tch ng hc tay my bng phng php ma trn Trn c s nhng kin thc v php chuyn i h to trn, phn tip theo di y s kho st cch thc hnh p dng phng php ma trn trong vic kho st ng hc cc c cu tay my. (a) Trng hp hai h ta (oxyz)1 v (oxyz)0 c chuyn ng tng i l chuyn ng tnh tin Trong hnh 3.3a mt im P xc nh trong h to (oxyz)1 bi vect r1. V tr ca h (oxyz)1 c xc nh trong h to c nh (oxyz)0 bi vect d1 c cc thnh phn hnh chiu trn trc (oxyz)0 l a1, b1, c1. Hnh 3.3a. Chuyn i h to tnh tin (trang 134) V tr ca im P xc nh trong h to c nh (oxyz)0 bi vect r0, vi: r0 = r1 + d1 hay r 1 = r0 - d 1 x1i1 + y1j1 + z1k1 = x0i0 + y0j0 + z0k0 - (a1i0 + b1j0 + c1k0) (*) Do hai h to c chuyn ng tnh tin tng i, ta c: i1 = i0 j1 = j0 k 1 = k0

T (*), ta c th vit: x1 = x0 - a1

y1 = y0 - b1

z1 = z 0 - c1

x 1 x 0 a1 di dng ma trn, ta c: y 1 = y 0 - b 1 hoc r1 = r0 - d1 z z c 1 0 1

Mt cch tng qut, khi m t to im P, mt im c nh trong h to (oxyz)1 trong chuyn ng tnh tin tng i gia hai h to (oxyz)1 v (oxyz)0, ta vit:

x 1 x 0 (t ) a1 (t ) y 1 = y 0 (t ) - b 1 (t ) z z (t ) c (t ) 1 0 1
Ly o hm theo thi gian hai v ca phng trnh trn, ta c:

0 x 0 (t ) a1 (t ) 0 = y 0 (t ) - b 1 (t ) 0 z (t ) c (t ) 0 1
hay suy ra (oxyz)0. (b) Trng hp hai h to (oxyz)a v (oxyz)b c chuyn ng tng i l chuyn ng quay Hnh 3.3b. Chuyn i h to quay Gi s ta c hai h trc to vung gc oaxayaza v obxbybzb (hnh 3.3b). Mt vect c xc nh trong h to oaxayaza bi cc thnh phn l x(a), y(a), z(a). Ta tm thy cc thnh phn x(b), y(b), z(b) ca vect trong h to obxbybzb. Khong cch gia cc gc ca hai h to l loaob = l. tm li gii cho vn nu trn gc to xy dng phng php nghin cu, ta s chia ra lm hai trng hp: trng hp l = 0 v trng hp l 0. (1) Trng hp l = 0 0 = r0(t) - d1(t) v0(t) = r0(t) = d1(t)

l vn tc ca im P khi ngi quan st ng trn h to c nh

Tng ng vi mt dch chuyn tnh tin mt trong hai h trc to nhm c a hai gc to oa v ob trng nhau (oa = ob). iu ny khng nh hng n kt qu tnh ton bi v hnh chiu ca vect ln cc trc to khng thay i trong php dch chuyn tnh tin hay chuyn di song song. Trong h to oaxayaza, ta c th vit: = iax(a) + jay(a) + kaz(a) ia, ja, ka l vect n v trn cc trc tng ng xa, ya, za Hnh chiu ca vect trn cc trc xb, yb, zb chnh l tch v hng gia vect vi vecto n v ib, jb, kb trn cc trc tng ng xb, yb, zb: x(b) = ib. = ib.ia.x(a) + ib.ja.y(a) + ib.ka.z(a) y(b) = jb. = jb.ia.x(a) + jb.ja.y(a) + jb.ka.z(a) z(b) = kb. = kb.ia.x(a) + kb.ja.y(a) + kb.ka.z(a) Trong cc i lng x(b), y(b), z(b) tm c c quan h tuyn tnh vi cc thnh phn hnh chiu x(a), y(a), z(a). Ngoi ra, cc h s nh hng ca cc i lng ny l tch v hng gia cc vect n v trn cc h trc to oaxayaza v obxbybzb v cng chnh l csin ca cc gc to bi cc trc to tng ng. Theo , ta nhn thy hng th nht ca biu thc (3.18): ib.ia = cos ( x b, x a) ib.ja = cos ( x b, y a) ib.ka = cos ( x b, z a) Biu din hnh chiu ca vect n v ib trn cc trc to xa, ya, za hay cng chnh l csin ch hng ca trc xb trong h trc to Oaxayaza. thun tin kho st bi ton ng hc tay my bng phng php ma trn, ta s biu din cc biu thc (2.18) di dng ma trn: Ta t: Mba = ib,ia jb,ia kb,ia ib,ja jb,ja kbja ib,ka jb,ka kb,ka (3.20) (3.19) (3.18) (3.17)

Hoc c th vit cch khc: cos( x b, x a) cos( x b, y a) Mba = cos( y b, x a) cos( y b, y a) cos( z b, x a) cos( z b, y a) cos( x b, z a) cos( y b, z a) cos( z b, z a) (3.21)

Ta gi Mba l ma trn csin ch hng v n bao gm cc phn t m theo th t cc hng ln lt l csin ch hng ca cc trc xb, yb, zb trong h trc to Oaxayaza. Gi (b) v (a) l cc ma trn ct vi cc phn t l cc hnh chiu ca vect trn cc h trc to Obxbybzb v Oaxayazaa ta vit: (xa ) (a) = (ya ) (za ) 0(b) = Mba0(a) trn Mba v (a). Phng php ma trn cho php ta th hin mt cch ngn gn vic chuyn cc hnh chiu ca vect trong h trc to 0axayaza sang h trc to 0bxbybzb. Ma trn csin ch hng Mba c gi l ma trn quay trong php chuyn i cc thnh phn ca vect t h to 0a sang h to 0b. Tng t, ta hy th xc nh ma trn csin ch hng Mab - ma trn quay trong php chuyn i t h to 0b sang h to 0a. Mt cch hiu khc, ta hy xc nh csin ch hng ca cc trc xa, ya, za trong h trc to 0a. Mt cch hiu khc, ta hy xc nh csin ch hng ca cc trc xa, ya, za trong h trc to 0bxbybzb. (b) = (xb ) (yb ) (zb ) (3.23) (3.22)

Cng thc (3.18) c th vit li di dng ma trn l: Trong , ma trn ct (b) l kt qu nhn c bng cch nhn hai ma

Ch cc cng thc (3.11) v (3.12), ta c th vit: i a ib Mab = MTba = jaib kaib iajb jajb iakb ja k b (3.24)

kajb kakb

Do tnh cht ca tch v hng ca hai vect; ia.ib = ib.ia, ma trn Mab nhn c chnh l ma trn chuyn v ca ma trn Mba (Mab = MTba); trong cc phn t thuc hng, theo th t, ca ma trn Mba chnh l cc phn t thuc ct, theo th t tng ng, ca ma trn Mab. Khi gii bi ton ng hc ca c cu khng gian nhiu bc t do, trong bao gm cc c cu tay my, ta s cn c vo tnh cht ng hc ca tng loi khp b tr sao cho cc h trc to tng i (c gn cng vi cc khu ca c cu) ca hai khu k tip nhau c mt trc trng nhau hoc song song vi nhau mi v tr trong khng gian hot ng ca c cu nhm n gin ho qu trnh tnh ton. Mt s trng hp thng gp c trnh by di dy (hnh 3.4);
z1 z2
z1

z2 z2
z2

z2 z4

y2
z1

y4 x2
z2

x3 y 2 y3

z3 z3

y3

y1 x1 x2

x3

x4

(a)

(b)

(c)

Hnh 3.4- Mt s trng hp h trc to tng i trng nhau Trn hnh 3.4a, hai h trc to 01 v 02 c cc trc x1 x2. V tr tng i gia hai h trc to c xc nh bi gc z1. Csin ch hng ca cc trc x2, y2, z2 c th hin trn cc hng ca ma trn Mz1 vi:

1 Mx = z
1 1

0 cos 21 -sin21

0 sin 21 cos21 (3.25)

0 0

Ch s x1 th hin ma trn M21 thc hin php chuyn i quay quanh trc x1 x2. Trn hnh 3.4b v 3.4c, cc h trc to 02, 03 v 03, 04 c cc trc tng ng trng nhau l y2 y3 va z3 z4. Ma trn quay thc hin php chuyn i tng ng quanh cc trc ny l: cos32
y M 32 =
2

0 1 0 0 cos43 0

-sin32 0 cos43 -sin43 0 1 (3.26b) (3.26a)

0 sin32 cos43

M z43 =
3

-sin43 0

Trong bi ton ng hc c cu khng gian, ta thng gp yu cu phi xc nh cc thnh phn ca mt vect no trong h trc to 0a1 gn vi gi tr c nh khi bit cc thnh phn ca n trong h trc to 0an gn vi khu th n. Khi ta phi thc hin mt chui lin tip cc chuyn i. Theo phn tch trn, ta c th vit: (a2) = M a a ( a )
1 2 1

(a3) = M a a ( a ) = M a a M a a ( a )
1 1 3 2 3 2 2 1

(3.27) ... M a a M a a ( a )
1 3 2 2 1

(an) = M n n ( a ) = M a a M a
1 3 1
n n 1

n 1a n 2

Mt cch tng qut, ta c th vit:

Ma a = Ma a Ma
n 1 n n 1

bn 1a n 2

... M a a M a3 a
3 2

(3.28)

Tng t, trong php chuyn i gc ngc li, ta c:

Ma a = Ma a Ma
n 1 n n 1

bn 1a n 2

... M a a M a3 a
3 2

(3.29)

Theo , ta nhn thy: (1) Vic chuyn i t h trc to 0an sang h trc to 0a1 c thc hin thng qua cc h trc to trung gian 0an-1, 0an-2, v.v... (2) D dng xc nh cc ma trn chuyn v thc hin cc chuyn i thun nghch khi cn thit; chng hn, Ma1a2 = MTa2a1, Ma2a3 = MTa3a2, v.v... Gi s ta c mt c cu khng gian gm gi - c gn h trc to c nh 0o v 4 khu ng c gn cng vi 4 h trc to tng ng l 01, 02, 03, 04. Ta c th vit: M40 = M43M32M21M10, M04 = M01M21M23M34 y: v d: Cho mt c cu tay my dng c cu khng gian h nh trn hnh 3.5. C cu bao gm 6 khu ng c lin kt vi nhau bng 6 khp bn l (khp ng loi 5; p5 = 6) A, B, G, D, E, F. Cc im B, C v E nm trong cng mt mt phng (P) cha trc quay A, trong cc trc quay B v C vung gc vi mt phng (P). Cng vic phi thc hin l phn tch ng hc c cu tay my hay cn gi l gii bi ton ng hc thun. Nh bit s c hc l thuyt, b ton ng hc bao gm ba ni dung; bi ton v tr, bi ton vn tc v bi ton gia tc. bi ton v tr, nhim v phi thc hin bao gm vic xc nh mi quan h v v tr ca tt c cc khu trn c cu vi mi chuyn ng trong khng gian lm vic ca n, xc nh phng trnh chuyn ng theo thi gian ca mt im bt k trn mt khu bt k; ni cch khc, ta phi xc nh to ca mt im trn mt khu bt k mt thi im bt k v qu Mo1 = MT10 M12 = MT21, ... minh ho r hn cc vn trnh by, di dy ta hy xt mt

o chuyn ng ca n. Ngoi ra, vi cc tay my, bi ton v tr cn phi xc nh thm vng khng gian lm vic ca n. Di y, s trnh by mt s ni dung chnh ca bi ton v tr bng phng php ma trn. Cc ni dung v vng khng gian lm vic, qu o chuyn ng ca cc khu trn c cu, h s lm vic bn c c th xem thm cui chng ny. 3.3.1- Phn tch bi ton v tr Bc 1: Xc nh cc tham bin phn nh chuyn ng tng i gia cc khu. Trc ht, ta s chn cc tham bin l cc to suy rng q1, q2, ... qn xc nh v tr tng i gia cc khu cng nh v tr ca c c cu. Cn lu l tu theo cu to ca c cu (hoc chui ng), ta s s dng cc to suy rng l cc i lng thng v i lng gc xc nh v tr ca c cu. Vi cc khp tnh tin; cho php thc hin cc chuyn v thng, th i lng xc nh v tr tng i (hoc chuyn ng tng i) gia hai khu lin kt l tham bin chiu di l c xc nh t mt gc no (thng l im ti khp thuc khu ng trc). Vi cc khp quay, i lng xc nh v tr tng i hoc chuyn ng tng i) l gc k, k-1 trong chuyn ng tng i gia hai khu k v k-1. Nh v d trn hnh 2.3, s rt thun tin khi ta chn cc to suy rng q1, q2, ..., qn l su gc quay trong chuyn ng tng i gia hai khu k tip nhau l 10, 21, ... 65. Hnh 3.5- S ng tay my 6 bc chuyn ng trong v d (tr.142)

Tip theo, kho st thun tin, ta s t vo mi khu ng th k(k=1...6) ca chui ng mt h trc to vung gc 0kxkykzk - gi l cc h to tng i hay h to a phng. Bng cch , ta thc hin cc vic sau:

Vit cc ma trn quay chuyn cc thnh phn (hnh chiu) ca

vect trong h to tng i sang h to tuyt i hoc ngc li.

Thng nht mt quy tc th hin cc gc quay v o hm theo thi

gian ca chng (cc vn tc gc v gia tc gc) trong chuyn ng tng i gia cc khu). Ngoi ra mt chi tit nhm gip n gin ho qu trnh gii bi ton ng hc, xin c nhc li vi bn c mt ln na, l cn c vo cu to v tnh cht ca cc lin kt (cc khp) trn c cu, ta s b tr sao cho:

Gc ca cc h trc to trng vi cc giao im ti cc khp quay;

v d trn hnh 3.5 l cc im B, C, E.

 Chn mt trc to trng vi trc quay ca khp; v d ny l cc

trc z1, z3, z5 thuc cc khu 1, 3, 5 trng vi trc quay ca cc khp quay B, C, E v cc trc x1, x3, x5 trng vi trc quay ca cc khp A, D, F.

Hai h trc to tng i k tip nhau s c t nht l mt trc to

trng nhau hoc song song vi nhau. v d ny l trc x trng vi x1 v cc trc z1, x3, x5 ca cc khu 1, 3, 5 trng vi cc trc z2, x4, x6 ca cc khu 2, 4 v 6. Ngoi ra, xc lp mi quan h cho php phn nh c chuyn ng tng i gia hai khu 4 v 5, ta chn trc z4 song song vi trc z5 vi chuyn ng tng i th hin bi gc quay 54.

Cui cng, chn mt trc to sao cho trng vi on thng th

hin kch thc ng ca khu. v d ny l trc x2 trng vi BC, x4 trng vi CE. Hoc chn trc to phn nh c chuyn ng ca khu, v d y ta chn trc z6 nm trong (hoc song song vi) mt phng ca khu 6 l tay gp trn tay my. Theo cch b tr nh vy, h trc to c nh v d ny s l 0o (Bxyz), cc gc quay trong chuyn ng tng i ln lt l:

10 = ( y 1- y ) = ( z 1 - z ) 43 = ( z 4 - z 3)

21 = ( x 2- x 1) 54 = ( x 5- x 4)

32 = ( x 3- x 2) 65 = ( z 6 - z 5)

Chiu dng quy c cho cc gc quay trong chuyn ng tng i c xc nh nh sau: t nh ca trc trng nhau (hoc song song nhau) nhn xung mt phng chuyn ng tng i, gc quay k k-1 mang gi tr dng khi chuyn ng tng i gia khu k so vi k-1 theo chiu dng lng gic. Bc 2: Xc nh cc ma trn quay Cc ma trn quay cn xc nh bao gm: M01 M02 = M01M12 M03 = M01M12M23 (3.30)

M06 = M01M12M23 ... M56 = M05M56 Cc ma trn quay biu thc (3.30) c xc nh theo cc cng thc (3.28) khi ta thit lp c cc ma trn quay M01, M12, M23, M34, M45, M56. Do cc cp h trc to k tip c mt trc to trng nhau hoc song song vi nhau, ta c th nhanh chng xc nh cc ma trn quay ni trn. cos21 - sin 21 M12 = M21 = sin 21 0 cos 21 0 0 0 1 (3.31)

Cc ma trn M34 (c trc x3 x4), M56 (c trc x5 x6) c xc nh vi kt qu hon ton tng t nh biu thc (3.30) bng thay cc gc tng ng 43 v 56. Cc ma trn M23 (c trc z2//z3) v M45 (c trc z4//z5) c xc nh vi kt qu hon ton tng t nh biu thc (3.30) bng cch thay cc gc tng ng 32 v 54. Vi cc ma trn quay Mk k+1 = MTk+1, k xc nh, ta s xc nh c cc ma trn M0k (vi k = 1,2, ..., 6) bng cch nhn lin tip cc ma trn theo cng thc (3.29). i vi mt chui ng nhiu khu (trn 4 khu ng) nn thc hin vic tnh ton nh phn mm Matlab nhm ln. Bc 3: Xc nh to ca mt im thuc mt khu bt k By gi ta chuyn sang cng vic xc nh to ca mt im bt k thuc mt khu bt k ca c cu trong h trc to tuyt i gn lin vi gi c nh 0. Chn trn khu 6 mt im P c cc to tng i ln lt l: x (p6 ) , y (p6 ) , z (p6 ) im P cng c xc nh bi vect EP = c trong h trc to Ex6y6z6.

To tuyt i ca im P c xc nh bi vect rP = BP di dng mt tng cc vect: rP = i2lBC + i4lCE + c = a + b + c (3.32)

ng thc (3.32), tng ca hai vect u i2lBC = a v i4lCE = b xc nh v tr ca im E bi bn knh vect BE , trong vect a xc nh trong h trc to 02 v vect b xc nh trong h trc to 04 cn vect c xc nh trong h trc to 06, th hin bi cc ma trn ct.

l BC a = 0 , 0

l CD b = 0 , 0

X (P6 ) ( c = Y P6 ) Z (6) P

(3.33)

Theo quan h chuyn i cng thc (3.20), ta c th vit: rp = M02a(2) + M04b(4) + M06c(6) y: (3.34)

X P Fp = Y P Z P

rp l ma trn ct vi cc phn t l cc thnh phn hnh chiu ca im P trong h to tuyt i. Cc thnh phn ny xc nh c t kt qu ca biu thc (3.33). Vic xc nh v tr ca cc im bt k khc c thc hin theo cch hon ton tng t. Trng hp cc chuyn v gc k k+1 c xc nh l cc hm theo thi gian k k+1 = k k+1(t), ta s xc nh c cc hm vect rP(t) tng ng theo thi gian. Ni cch khc, ta s xc nh c quy lut chuyn ng ca mt im trn mt khu bt k v biu din c qu o chuyn ng ca n theo thi gian trong vng khng gian hot ng ca c cu. Bc 4: Xc nh thnh phn (hnh chiu) ca cc vect n v trn trc ca cc khp bn l. Bi ton v tr ca c cu l mt chui ng khng gian h cn phi xc nh v tr hay hnh chiu ca cc vect n v trn cc trc ca cc khp

bn l A, B, C, D, E, F trong h to tuyt i nhm chun b cho vic xc nh bi ton vn tc v gia tc cc bc tip theo. tm thi phn bit vi cc vect n v trn cc trc to a phng, ta k hiu ln lt cc vect n v trn cc trc ca khp bn l l e1, e2, e3, e4, e5, e6. Tht ra, do trc x1 trng vi trc ca khp quay A, nn e1 i1. Tng t, bn c c th t kim tra cc vect n v trn cc trc khp quay cn li e2 k1 k2, e3 k3, e4 i3 , e4 i3 i4, e5 k5, e6 i5 i6. Ngoi ra hnh chiu ca cc vect n v e1, e2, ..., e6 trong h to tuyt i c th hin trong cc ma trn quay M0k xc nh trn. Hy th ly mt ma trn M06:
( 05 m 11 ) 05 M06 = M01 M12 M23 M34 M45 = m (21 ) m ( 05 ) 31 ( 05 m 12 ) 05 m (22 ) 05 m (32 ) ( 05 m 13 ) 05 m (23 ) 05 m (33 )

(3.35)

Ta d dng nhn ra cc thnh phn hnh chiu ca cc vect n v e5 k5 v e6 i5 l cc phn t tng ng thuc ct th ba v ct th nht ca ma trn M05;
( 05 ) e 5 x m 13 05 e5 = e 5 y = m (23 ) , 05 e m (33 ) 5z ( 05 ) e 6 x m 11 05 e6 = e 6 y = m (21 ) 05 e m (31 ) 6z

(3.36)

Tng t, ta s xc nh c cc thnh phn ca cc vect n v e1, e2, ..., e6 trong h to tuyt i th hin cc phn t thuc cc ct trn cc ma trn quay M01, M03 v M05. 3.3.2- Phn tch bi ton vn tc v gia tc bi ton ny, nh bit trong c hc, ta gi nh rng chuyn ng ca khu th k so vi khu th k-1 l bit. Vi c cu tay my v d trn, vn tc gc v gia tc gc trong chuyn ng tng i c gi tr ln lt l

k, k-1 v k, k-1 v chnh l cc o hm bc nht v o hm bc hai theo thi

gian ca chuyn v gc k, k-1. Di dng vect, ta c th biu din:

& k, k-1 = ek

k,k-1

(3.37) (3.38)

&& k, k-1 = ek k,k-1

l cc vect ng tuyn tnh c phng nm trn cc trc quay lin kt cc khp k = k-1; ek l vect n v trn trc quay ca cc khp ny v c xc nh phn trn. Chuyn ng tuyt i ca khu th k bao gm hai chuyn ng; chuyn ng theo (hay ko theo) khu th k-1, c th hin bi vect k-1 v chuyn ng tng i ca khu th k so vi khu th k-1, c biu din di dng vect l k, k-1. Gi k l vect vn tc gc tuyt i trong chuyn ng phc hp ca c cu, theo nh l hp vn tc ta c th vit:

k = k-1 + k, k-1
C th hn, ta c:

(3.39)

& 1 = 0 + 10 = e1 10 & & 2 = 1 + 21 = e1 10 + e2 21

(3.40) Mt cch tng qut, ta c th biu din vect vn tc gc tuyt i k.

k =

& i,i-1 = ei, i, i-1

i 1 i 1

(3.41)

Chnh l tng ca vn tc gc trong chuyn ng tng i ca tt c cc khu ng trc khu th k vi vn tc gc trong chuyn ng tng i ca chnh khu th k vi khu th k-1. Di dng ma trn cng biu din tng t:

k = k-1 + k,k-1

(3.42)

trong , k, k-1 v k, k-1 l cc ma trn ct gm cc phn t l cc thnh phn (hnh chiu) ca cc vect cng tn trn cc trc to tuyt i x, y, z.

Vi gia tc gc, din tin xc nh cng theo cch tng t. Tuy nhin, cn lu mi lin h gia tc gc gia cc khu trong chuyn ng phc tp, theo nh l hp gia tc, ta c:

k = k-1 + k,k-1 + k-1 k,k-1

(3.43)

Biu thc trn l kt qu ly o hm biu thc (3.37) theo thi gian. Trong k-1 = dk-1/dt l gia tc gc trong chuyn ng theo khu k-1. Gia tc trong chuyn ng tng i gm c k,k-1 = d k,k-1/dt l thnh phn gia tc gc th nht do nh hng ca chuyn ng tng i gia khu th k so vi khu th k-1 v thnh phn gia tc gc th hai k-1 k,k-1 do nh hng ca chuyn ng quay ca khu th k-1. Vi cc vect vn tc gc v gia tc gc xc nh c t (3.40 v (3.41), ta d dng chuyn sang xc nh vn tc di ca im thuc khu bt k trn c cu cho. T c hc l thuyt ta bit trong chuyn ng tng qut ca vt rn, vn tc hoc gia tc ca mt im M bt k c xc nh theo vn tc hoc gia tc bit ca im cc 0 no : VM = Vo + VM0 aM = a0 + aM0 trong : (3.44) (3.45)

V0, a0 ln lt l vn tc v gia tc ca im cc 0. VM0 v aM0 ln lt l vn tc v gia tc trong chuyn ng tng i

gia im M so vi im cc 0, c xc nh bi cc cng thc: VM0 =

(3.46) (3.47)

aM0 = ( ) +

y v l vn tc gc v gia tc gc ca vt th, = 0M l bn knh vect xc nh v tr tng i ca im M so vi im cc 0. Nh cc cng thc trn, ta c th xc nh vn tc v gia tc ca mi im trn c cu tay my cho. Gi s ta cn xc nh vn tc v gia tc ca

im thuc khu 6 nh bi ton v tr. Chn im E l im cc, ta c th vit: Vp = VE + VPE = VE + 6 EP hon ton tng t nh trn, ta c th vit: VE = VC + VEC = VB + VCB + VEC = 2 BC + 4 CE Do im B c nh nn VB = 0, ta c th vit li biu thc (3.46) tr thnh: Vp = VCB + VEC + VPE = 2 BC + 4 CE + 6 EP (3.49) Trong cng thc (3.48), cc vect BC = M02a. CE = M04b, EP = M06c c xc nh t biu thc (3.34) ca bi ton v tr v cc vect vn tc gc 2, 4, 6 c xc nh theo cng thc (3.40) u c xc nh trong h to tuyt i. Vn tc ca im di dng ma trn s l mt ma trn ct vi cc phn t ca ma trn ln lt l cc thnh phn (hnh chiu) ca vect vn tc tuyt i ca im p trong h to c nh Bxyz. Vi bi ton gia tc, ta cng xc nh tng t, bng cch vit: aP = aE + aPE Trong : aE = aC + aCE = aB + aCB + aEC do aB = 0, aP = aCB + aEC + aPE vi aCB = 2 (2 BC) + 2 BC aEC = 4 (4 CE) + 4 CE aPE = 6 (6 EP) + 6 EP cc vect BC , CE ; EP , i (i = 2, 4, 6) c xc nh nh bi ton vn tc, cc vecto i c xc nh theo cng thc (3.42). Di dng ma trn ta vit: (3.51) (3.50) (3.48)

Bng cch thay th biu thc ca vect VE theo mi quan h vn tc

a x aP= a y az

=2(2M02.a)+4(4M04.b)+4b+6(6M06.c)+ 6c (3.52)

Trong : i, i (i = 2, 4, 6), a, b, c l cc ma trn ct (3,1), M0i (i = 2, 4, 6) l cc ma trn (3, 3). v tr nu trn, ta rng tt c cc khu trn c cu tay my c lin kt vi nhau ton bng khp bn l v trong qu trnh gii bi ton ny ta s dng phng php ma trn c kt hp vi phng php vect. (2) Trng hp l 0 Vi trng hp tng qut hn, khi lin kt gia cc khu trn c cu tay my gm cc khp bn l v cc khp tnh tin (khp trt) th vic m t chuyn ng tng i gia cc khu bng phng php nu trn s gp tr ngi. Vn xut hin ch l vi ma trn (33) ta khng th m t chuyn tnh tin gia hai khu lin kt bng khp trt loi 5, tng ng vi l 0. Ni cch khc phng php trnh by trn ch ph hp vi c cu tay my lin kt bng khp bn l. S thun li hn v tng qut hn nu ta s dng phng php to thun nht, cho php biu din ng thi cc chuyn ng quay v chuyn ng tnh tin trong vic m t chuyn ng tng i gia hai khu. Phn trnh by tip theo di y kho st phng php ny. 3.4- Thut ton gii cc bi ton ng hc bng phng php to thun nht. 3.4.1- Thut ton gii bi ton thun Nh trnh by phn u, ni dung ca bi ton thun tng t nh ni dung ca bi ton phn tch ng hc c cu. C th pht biu gi thit v mc tiu ca bi ton thun nh sau: Cho trc c cu tay my; ngha l cho trc s khu, s khp, loi khp v kch thc ng (di) ca cc khu thnh vin trn tay my, ta phi xc nh v tr v hng ca khu tc ng cui

trong h trc to vung gc gn lin vi gi c nh (h to c s hay h to tham chiu) khi cho trc v tr ca cc khu thnh vin thng qua cc to suy rng (q1) dng m t chuyn ng tng i gia chng (hnh 3.10).

Kch thc ng d1 v v tr ca cc khu thnh vin (to suy rng), q

Bi ton ng hc thun

V tr v hng ca khu tc ng cui trong h to Descartes; xp, yp, zp, pi

Hnh 3.10- Bai ton ng hc thun tay my Vic gii bi ton ng hc thun bao gm cc bc sau y: (1) a tay my v v tr gc, cn gi l v tr HOME, l v tr m dch chuyn ca cc khu bt u c tnh t . (2) Gn trn mi khu ng mt h trc to (h trc to tng i). (3) M t chuyn ng tng i gia cc khu lin tip bng cc to suy rng (bao gm cc chuyn ng tnh tin v chuyn ng quay). (4) nh ngha (vit) cc ma trn Aj cho cc khu tng ng. (5) Nhn cc ma trn Aj tnh ma trn chuyn i TN (6) Lp phng trnh ma trn chuyn i ca tay my v ma trn chuyn i tng qut th hin mi lin h v v tr gia to ca khu u cui trong h to Descartes vi to suy rng ca cc khu thnh vin. (7) Lp phng trnh ma trn chuyn i ca tay my v ma trn tng qut th hin mi lin h v hng thng qua cc gc Euler xc nh hng ca khu u cui vi to suy rng ca cc khu thnh phn.

Bn c c th t i chiu thut ton trnh by y vi v d trnh by phng php ma trn v vect phn trc. Trnh t thc hin hai phng php cng tng t, ch khc bit l cch thit lp cc ma trn quay trong chuyn i thun nht A(4,4) thay cho cc ma trn quay M(3,3) trong v d trc. 3.4.2- V d minh ho bi ton thun - v tr v hng Nh nu phn trn, i vi mt chui ng hc h, gii bi ton ng hc ta phi gn ln cc khu ca chui cc h trc to ph hp, gi l h trc to a phng hay h to tng i. To cc khu trong h trc to a phng tng ng gi l cc to suy rng. Chn mt h trc c nh, gi l h trc to tham chiu hay h to c s. To cc khu trong h trc to tham chiu gi l cc to tuyt i. Nu tm c mi lin h gia cc h trc to a phng v h trc to tham chiu th ta c th xc nh c v tr v hng ca mt khu bt k trong chui cng nh to ca mt im bt k trn mt khu no khi bit cc to suy rng ca cc khu thnh vin. Mc ch ca phn ny l tm mi lin h gia to ca cc khu, c xc nh trong cc h trc to a phng v th hin qua cc to suy rng q1 ca chng, vi to ca chng c th hin trong h trc to c s. Trn c s , ta s xy dng gii thut v vit chng trnh gii bi ton ng hc thun tay my. Xt khu th i c to suy rng qi trong chui ng hc h n khu. Ta c cc k hiu sau: q, qo : ln lt l gi tr ca to suy rng qi vit trong h trc to a phng (0xyz)1 v h trc to c s (0xyz)o. Ai-1i
o

: ma trn chuyn i thun nht trong php chuyn i h trc

ca h trc j i vi h trc j-1. T : ma trn chuyn i thun nht trong php chuyn i h trc i i vi h trc to c s.

Nh vy: trong :

qo = oT. qi
o

(3.73) (3.74)

Ti = Ao1. A12 - A-1

Da vo (3.73) v (3.74) ta cng d dng nhn thy rng nu tnh c A(i-1) v cho trc qi (i=1.n) th hon ton xc nh c to v hng ca khu cui, to v hng khu bt k no cng nh to ca mt im bt k trn khu. C nhiu cch tnh ma trn chuyn i tng th oTi, y chng ta s dng cc qui c denavit - Hartenberg bin i thun nht to trong cc h to a phng v h to c s da vo ma trn DH tng i vi k hiu Ai-1i th hin chuyn ng tng i gia h trc (0xyz)i v h trc 0xyz)i-1 nh trnh by trn. Cc qui c denavit - Hartenberg: Xt chui ng hc h gm mt chui lin tip nhau ca cc khu, trong , mi khp ch lin kt vi hai khu k tip. S khng mt tnh tng qut khi ta xut cch xy dng cc h trc cho hai khu lin tip bt k lm c s pht trin cho tt c cc khu trong chui. Qui c denavit - Hartenberg gip xy dng h thng h trc theo hng mi khu trong chui ng hc gn lin vi mt h trc to a phng. Theo , v tr v hng c mt khu no c xc nh da theo to ca gc to v hng ca cc vect n v ca h trc to d a phng gn cng trn khu ang xt so vi h trc to c s. Cc gi tr nu trn c biu din di dng ma trn, thun tin trong vic tnh ton trn my tnh. Xt hai khu i-1 v i gia cc khp i-1, i v i+1, ta s dng cc qui c sau: (1) Chn trc zi dc theo ng tm khp i+1. (2) Gc to 0i l giao im ca trc to zi vi ng vung gc chung ca zi-1 v zi.

(3) Chn trc xi dc theo ng vung gc chung ca zj-i v zi c chiu t nt (i) sang nt (i+1). (4) Chn trc i sao cho (0xyz)i l tam din thun (xc nh theo qui tc bn tay phi). (5) i vi h trc c s (0xyz)o ch c duy nht trc zo l xc nh chn tu 0oxoyo. (6) i vi h trc n ch c trc xn xc nh: xn phi vung gc vi trc zn-i. Khng c khp n+1 nn trc zn l khng xc nh, v vy c th ta khng chn hoc chn zn tu . (7) Khi hai trc lin tip ct nhau (trc zi-1 v zi), trc xi s c chn tu . (8) Khi cc lin kt l khp tnh tin, th ch c trc zi l xc nh. Ngoi cc qui c denavit - Hartenberg trnh by trn, tng thch vi v d minh ho v gii thut ca bi ton v tr s cp trong phn sau, ta quy c rng h trc to c s c chn sao cho gc to 0o trng vi gc to ca khu th nht 01. Hnh 3.11- Cc thng s ng hc denavit - Hartenberg (tr173) Gii thch cc k hiu ai : khong cch gia 0i v 0i di : khong cch gia 0i-1 v 0i

i : gc gia hai trc zi-1 v zi khi quay quanh trc xi theo chiu dng
quy c (ngc chiu kim ng h). n : gc gia hai trc xi-1 v trc xi khi quay quanh trc zi-1 theo chiu dng quy c. Phng php thc hnh xc nh ma trn chuyn i tng th Tn(q) trn c s ma trn Ai-1i(q): Trong h trc c xy dng da vo cc quy c denavit - Hartenberg th: Nu l khp bn l, bin s l i.

Nu l khp tnh tin, bin s l di. Ti khp i, tnh ma trn chuyn i gia h trc i v i-1 theo cc bc sau: Bc 1: Chn h trc lin kt l h trc i-1. Bc 2: Chuyn dch h trc c chn mt khong di dc theo trc zi-1 v quay quanh trc zi-1 mt gc i theo chiu ngc chiu kim ng h. iu ny thc hin c bng cch s dng h trc trung gian i, th hin bi ma trn chuyn i thun nht sau:

A ii 1

cy i s = i 0 0

s i c i 0 0

0 0 0 0 l di 0 l

Bc 3: Chuyn i h trc lin kt vi h trc i bng cch tnh tin h trc i mt on ai dc theo trc xi, sau quay n quanh trc xi mt gc i theo chiu ngc kim ng h. Bc 4: Qu trnh trn c th hin bi ma trn chuyn i Aij .

1 0 0 c i i A t= 0 s i 0 0

0 s i c i 0

ai 0 0 1

Bc 5: Kt qu chuyn i t h trc (i) sang h trc (i-1) c th hin bi ma trn chuyn i thun nht Ai-1i: Ai-1i = Ai-1i * Aii ; c i Ai-1i = si 0 0 -si.ci -ci.ci si 0 -si.si -ci.si ci 0 -ai.ci -ai.si di 1 (3.75)

Tng qut, nu tay my c n khu trn c s tnh cc ma trn chuyn i Ai-1i (i=1.n), ta tnh c ma trn chuyn i tng th:

Tn(q) = Ao1(q1) . A12(q2), ... An-1n(qn) [ ao do

(3.76) (3.77)

Bi ton a v vic xc nh cc thng s:

o o ]

Da vo RTn(q) bit, bng phng php ng nht thc ma trn Ai-1i v

R

Tn(q), ta s xc nh c (3.77). Trong ao, do, o, o l cc thng s

Denavit - Hartenberg trong php chuyn i to vit trong h trc (0xyz)n v h trc c s (0xyz)o. Hnh 3.12: Php chuyn h trc tng th (tr175) 3.4.3- Xy dng chng trnh tnh rTN(q) C th xy dng mt chng trnh gii bi ton thun vit bng ngn ng MATLAB nhm xc nh RTn(q) khi bit cc to suy rng [ai di i n] (i = 1,...n). Trong chng trnh ny, chng ta khng ch xc nh c v tr v hng ca ta gp m cn c th xc nh c v tr v hng ca khu bt k trong chui ng hc h, cng nh xc nh to ca mt im bt k trn n. Chng hn, khi cn tnh v tr v hng ca khu no trn chui ng hc, trong phn nhp d liu ta phi nhp thng s m l s th t ca khu cn xt, kt qu nhn c khi chy chng trnh l ma trn chuyn i tng th RTM v ma trn [ao do o o] l cc thng s Denavit Hartenberg ca h trc (0xyz)m theo h trc tham chiu (0xyz)o; ngha l, chng ta xc nh c v tr v hng ca khu m. Cc k hiu trong lu ca chng trnh gii bi ton thun: - Trn hnh 3.13 trnh by lu bi ton ng hc thun tay my; bi ton xc nh v tr v hng v bi ton vn tc. Trong d chng ta s dng cc k hiu sau: aci dci ci ci : cc gi tr hng s ca ai di i i trong php chuyn i t h trc (i) sang h trc (i-1). n : s khu c trong chui ng hc v cng chnh l ch s ca khu tc ng cui. m : ch s ca khu c xt.

axi dxi xi xi : cc bin Denavit - Hartenberg trong h trc to a phng ng vi khp tnh tin v khp quay loi 5. axi dxi xi xi : o hm bc nht theo thi gian ca cc bin v tr axi dxi xi xi . Vmxo Vmyo Vmzo v mxo myo mzo : vn tc di v vn tc gc ca khu m i vi cc trc xo, yo, zo ca h trc to tham chiu (0xyz)o .
Bt u

Nhp cc hng s [aci dci ci ci n] Xt khu: m = ? Bi ton: bt = ?

m > n? S bt = 1? S Nhp cc bin: [axi dxi i xi ]

Nhp cc bin: [axi dxi i xi ] Tnh JACOBIAN ca khu m; Jm Tnh vn tc khu m (Vkxo Vkyo Vkzo] [kxo mkyo mkz0o]

Tnh ma trn chuyn i tng th: RTm Tnh to v hng ca khu m [ao do ao o ]

Tt = 1? S Kt thc

Hnh 3.13- Lu ca chng trnh gii bi ton thun

Bin bt dng xc nh bi ton cn gii: bt = 1: bi ton vn tc bt = 0: bi ton v tr Bin Tt dng qun l chng trnh: Tt = 1: tip tc Tt = 0: tr v mn hnh GIAO - DIN chnh 3.4.4- Thut ton gii bi ton v tr trong bi ton thun ng hc tay my Cc bc th tc cn thc hin khi gii bi ton thun. (1) Trn trc Zo ca h trc c s (0xyz)o, dch theo trc zo mt on do v xc nh uc gc to h trc trung gian 0n vi lu : - Nu do > 0 : dch theo chiu dng trc Zo - Nu do < 0 : dch theo chiu m ca trc Zo (**) (2) V trc trung gian 0nxn // 0oxo (3) Quay trc 0nxo quanh trc Zo mt gc o, vi lu : - Nu o > 0 : quay theo chiu ngc chiu kim ng h (chiu dng lng gic) - Nu o < 0 : quay theo chiu ngc li (***) Kt qu, xc nh c trc 0nxn. (4) Dch chuyn 0n dc theo trc 0nxn mt on ao vi lu (**), xc nh c gc to 0n v trc 0nxn ca h trc (0xyz)n. (5) K trc 0nzn // 0ozo v quay trc 0nzn quanh trc 0nxn mt gc o vi lu (***). Ta xc nh c trc 0nzn. (6) V trc 0nyn sao cho (0xyz)n to thnh mt tam din thun (xc nh theo quy tc bn tay phi). Nh vy, cc bc th tc trong gii thut xc nh v tr v hng tay gp trong bi ton ng hc thun tay my c th khi qut nh sau:

Bc 1: Xy dng h trc tham chiu (0xyz)o v cc h trc a phng (0xyz)i (i=1,...n) theo cc quy c Denavit - Hartenberg . Cc ch s lin tip nhau tnh t h trc tham chiu. (1) Chn h trc c s bng cch chn 0o trn trc zo sao cho 0o trng vi gc to 01 ca h trc to a phng th nht. Cc trc xo v yo c chn tu sao cho (0xyz)o to thnh mt tam din thun. (2) Gc to a phng 01 l giao im ca trc zi vi ng vung gc chung ca hai trc zi-1 v zi. Nu zi-1 // zi v khp i l khp quay th 0i c xc nh xut pht t 0i-1 (tc l di = 0). Nu khp i l khp tnh tin, gc to 0i l v tr hin hnh ca khp trong qu trnh thay i v tr. (3) Chn trc xi dc theo ng vung gc chung ca hai trc zi-1 vf zi (chiu t khp i ti khp i+1). (4) Chn trc yi sao cho (0xyz)i to thnh mt tam din thun. (5) Chn h trc n (0xyz)n nh sau: Trc xn vung gc vi zn-1: - Nu khp n l khp quay, zn trng vi zn-1. - Nu khp n l khp tnh tin, zn trng vi zn-1 hin hnh ca tay gp, nhng 0n cch 0n-1 mt khong bng gi tr hin hnh ca bin dn: 0n0n-1 = dn Bc 2: Lp bng h s ai, di, i, i (i=1, ... n) Bc 3: Chy chng trnh DU_LIEU trong tp tin DU_LIEU.m nhp d liu cho bi ton. Bc 4: Chy chng trnh trong tp tin V_TR.m xc nh [ao do o o]. Bc 5: Hon thin bi ton trn c s cc thng s bit [ao do o

o], xc nh hng v v tr tay gp hoc hng v v tr ca khu bt k,

ta ca mt im bt k no trn khu ny theo cc bc (*) trnh by trn. 3.4.5. Thut ton gii bi ton ngc

Nh trnh by phn phng php chung, ni dung ca bi ton ngc c pht biu nh sau: cho trc c cu tay my tc l cho trc s khu, s khp, loi khp, kch thc ng di ca cc khu thnh vin v cho trc v tr v hng ca khu tc ng cui trong h to Descartes c gi l cc bin v tr), ta phi xc nh v tr ca cc khu thnh vin thng qua cc to suy rng q, (c gi l cc bin di chuyn ca chng sao cho khu tc ng cui t c v tr v hng yu cu. Pht biu trn c th m rng ra nh sau: cho trc c cu tay my v yu cu dch chuyn (hay quy lut chuyn ng th hin s thay i c v v tr v hng) ca khu tc ng cui c m t trong h to Descartes, ta phi xc nh quy lut chuyn ng ca cc khu thnh vin thng qua cc bin i chuyn (to suy rng q = qi(t)). Thng thng, ta vn s dng phng php chung nu phn trn tm li gii; tuy nhin, nh phn tch phn I ca chng ny, c v s li gii cho bi ton ngc. Thut ton tm li gii ca bi ton ngc trnh by di y c th dng tm li gii trong trng hp tng qut. Thut ton gm cc bc sau: Bc 1: Thit lp phng trnh ma trn chuyn i tng qut cho tay my. Nu c yu cu c th v v tr v hng (gi tr ca cc bin v tr) ca khu tc ng cui th th hin cc thng s to c th trong phng trnh chuyn i tng qut va c thit lp (xem cc phng trnh tng qut (3.63), (3.64) v (3.65) phn trn). Bc 2: Ch xem xt cc phn t ca cc ma trn c thit lp c th, sau i chiu vi cc phn t ca ma trn trong biu thc tng qut (3.65) tm kim theo th t. (a) Cc phn t ch cha mt bin di chuyn (mt to suy rng) c th gn vo biu thc c cc gi tr ca bin v tr c cho trc theo yu cu c th v v tr v hng cho trc nu c.

(b) Cc cp phn t to thnh mt biu thc ch lin quan n mt bin di chuyn khi c tch ra hoc thc hin php chia, gn gi tr nu c c cc s liu c th thit lp cc hm arctan nhm xc nh gi tr ca bin di chuyn cha bit theo bin v tr bit t mc (a). (c) Tm cc phn t hoc nhm cc phn t bin di chuyn cha bit theo cc phn t bin v tr xc nh c mc (a) v (b) bng phng php dng nht thc cc biu thc lng gic. Bc 3: Chn mt phn t bin di chuyn xc nh mc 2 thit lp phng trnh vi cc phn t bin v tr v bin di chuyn c lin quan cc ma trn khc. Gii phng trnh ny tm biu thc m t mi lin h mt bin di chuyn vi tt c cc phn t ca ma trn chuyn i tng qut. Bc 4: Lp li bc 3 cho n khi php ng nht thc c thc hin vi tt c cc phn t bin di chuyn tm thy bc 2. Bc 5: Nu c bt c mt li gii no ca bin di chuyn khng hp l so vi cc iu kin bin trong chuyn ng ca cc khu thnh vin, khng xc nh hoc li gii tha th t li gii sang mt bn v tip tc tm li gii tt hn. Ch rng, cc li gii xc nh theo cc phn t bin di chuyn l cc vect q1 c th hiu qu hn cc li gii theo cc thnh phn ca n trn cc trc to x, y, z, bi v vic tm kim cc phn t thnh phn ca cc vect ny c th ko theo vicgii ccs phng trnh phc tp trong khi v tr mong mun ca khu tc ng cui c cho trc. Bc 6: Nu c nhiu bin di chuyn l gc quay c xc nh, ta nhn c hai v ca phng trnh (gm cc ma trn) vi ma trn nghch o ca ma trn A cho php khp u tin to ra mt phng trnh ma trn mi tng ng vi phng trnh ma trn trc (xem biu thc (*), trang 169 ca phn phng php chung). Tip tc thc hin tun t li cch thc nu trn cho n khu cui cng thit lp cc phng trnh ma trn c s tham gia ca cc ma trn nghch o.

Bc 7: Lp li bc hai n bc su cho n khi tm c tt c cc bin di chuyn. Bc 8: Nu li gii ph hp cho bin di chuyn no khng th tm c, hy chn li mt bin di chuyn khc m ta loi b bc 5 v lu vng nghim khng tng thch. Bc 9: Nu khng tm thy li gii cho tay my th c th tay my khng th t ti v tr v hng (c bit) nu: v d nh ngoi vng khng gian hot ng ca tay my hoc cng c th li gii n thun v mt l thuyt m trn thc t vi nhng rng buc v vt l, kt cu hn ch chuyn ng ca tay my. Nh phn tch phn trc, khi thc hin thut ton gii bi ton ngc, thng dn ti bi ton v nh. Nhm khc phc tnh trng ny, tm li gii cho bi ton ngc, ngi ta thng a thm cc rng buc cho cc bin v tr, cc bin di chuyn v chn nhng nghim no tho mn cc rng buc trn. Mt cch gii quyt khc l ngi ta t vn ti u ho theo mt tiu chun no ; v d, thi gian ngn nht, qung ng i ngn nht, chi ph cho di chuyn nh nht, v.v... Tt nhin, lc bi ton nghch s phc tp v kh khn hn nhng khng c ngha l khng gii c 3.5- Bi ton ng hc trong chuyn ng vi phn (hay chuyn ng Jacobi). Mt vn t ra l khi im tc ng ca khu cui (End-Effector) cn thc hin mt dch chuyn b (tnh tin v xoay) th cc bin di chuyn no phi tham gia vo v cc bin c gi tr bao nhiu t c v tr mc tiu. l cc chuyn ng vi phn hay cn gi l chuyn dng Jaccobi. Di chuyn vi phn c lin quan ti cc vn ti u v iu khin chuyn ng ca im trn khu tc ng cui t ti v tr yu cu no vi chnh xc cho trc. Ngoi ra cc ma trn Jacobian rt thun tin trong vic gii cc bi ton xc nh vn tc v gia tc ca c cu tay my. 3.5.1- Ma trn Jacobi v nh thc Jacobian.

Xt hm f(.): Rn Rm

Vi:

u 1 (z ) u (z ) f(z) = 2 M u m ( z )

x 1 x vi z = 2 M x m

Gi thit hm (.) kh vi ti mi im ca min xc nh D. Ta gi ma trn J(z) c kch thc mxn sau y l ma trn Jacobi ca hm (.) ti im z:

u 1 x 1 u 2 (u 1 , u 2 ,..., u m ) (z ) = x 1 J(z) = (x 1 , x 2 ,..., x n ) M u m x 1

gi l Jacobian ca hm (.) ti im z.

u 1 x 2 u 2 x 2 u m x 2

...

u 1 x n u 2 ... x n u m ... x n

Nu m = n th ma trn J(.) l ma trn vung c nh mc ca n c Khi Jacobian ca (.) ti zo = 0 bng O th ta gi zo l im k d.

Xt trng hp m=n v nu hm (.) l n v v nghch o th tn

ti hm ngc.

i-1(.) v jacobian ca hm ngc i-1(.) l j(x) vi: x 1 u (w ) 1 x 2 (w ) (x 1 , x 2 ,..., x m ) (w ) = u 1 j(z) = (u 1 , u 2 ,..., u n ) M x m (w ) u 1

v ta c: ti zo l: vi w = (z)

x 1 x 1 (w ) ... (w ) u 2 u n x 2 x 2 (w ) ... (w ) u 2 u n x m x m (w ) ... ( w ) u 2 u n

Nu hm (z) kh vi ti zo v Jacobian J(zo) 0 th vi phn ca (.)

d(zo) = J(zo) dz, hay mt cch gn ng ta c th xem nh:

J(z) =

1 j(z )

f 1 f f = 2 = j(zo) M f n f1 = f1(z) - f1(zo)

x 1 x 2 M x n

3.5.2- Chuyn ng vi phn Ta bit mt dch chuyn b ca khu c th phn tch thnh mt chuyn ng tnh tin ca im gc thuc khu v mt chuyn ng xoay quanh mt trc i qua gc y (nh l Charles trong c hc vt rn). T nhn xt ta c th vit ma trn DH m t chuyn ng ca khu H = Ho(P). Suy ra: dH = nh sau: Gi thit H c cc phn t hij v Hn c cc phn t l hnij vi ij = 1, ...4. r Xt tay my c r trc v e1( i =1,... f ) l cc vect c s ca khng gian Rr. Khi : dp =
n h ij

dH n (p) * dp vi k hiu nhn * c ngha c bit dp

dp .e
i =1 1 i

n h ij r ei = p i =1 p i

n n h 14 h 11 h dpL h dp dh 11 L dh 14 dH n M = M dH = M * dp M = dp n n h dh 41 L dh 44 h 41 dpL 44 dp h h

(1) Di chuyn tnh tin vi phn Trng hp di chuyn tnh tin vi phn theo vect dc1 = (da1, db1, dc1)T ta c: ro = c1.r1 vi : r1 = const dH = dro = dc1 . r1

m:

1 0 c1 = 0 0 1 0 dro = 0 0

0 0 a1 1 0 b1 ; 0 1 c1 0 0 1 0 0 da1 1 0 db 1 0 1 dc1 0 0 0

x 1 y r1 = 1 z 1 1 x 1 da1 y db 1 = 1 z 1 dc1 1 1

Hnh 3.14- Trng hp di chuyn tnh tin vi phn theo vect dc1(tr186 (2) Di chuyn xoay vi phn Mt chuyn ng quay trc bt k i qua gc to c th xem l mt kt hp cc chuyn ng quay xung quanh cc trc to , kt hp cc chuyn ng quay li khng c tnh giao hon (do tnh khng giao hon ca php nhn ma trn). Tuy nhin nu xt chuyn ng quay vi phn th ta c th b qua cc thnh phn thay i, c bc cao hn 1 (coi gn ng cosdx = 0, sindx = dx v dx.dy = 0). Trong trng hp ny c th xem chuyn ng quay vi phn c tnh giao hon, ni khc i l kt qu cui cng khng ph thuc th t cc chuyn ng quay vi phn thnh phn trong mt kt hp lin tip ca chng. thy r iu ni trn ta xt v d. Xt hai chuyn ng xoay lin tip quanh trc 0x mt gc p v quanh trc 0y mt gc q. Ma trn m t nh sau:
0 0 cos q 1 0 cos p sin p 0 0 sin p cos p sin p
0 1 0 sin q 0 = cos p

cosq 0 sin p sin q cosp cosp sin p sin p

sin q sin p cosp cosp cosp

Xt hai chuyn ng xoay lin tip quanh trc 0y mt gc q v quanh trc 0x mt gc p. Ma trn m t nh sau:
cos q 0 sin p sin p sin q cos p sin p cos q cos p sin q sin p cos p cos p

T ta thy ma trn m t hai trng hp trn l khc nhau. Tuy nhin, nu xt kt hp ca hai chuyn ng vi phn ta s thy ma trn m t chuyn ng xoay vi phn l nh nhau.
1 0 dp 0 1 dp dq dp 1

Theo nh k Charles, vn tc gc ca mt khu c cho bi. r io dp i r dq i r ds i r dK i r v 1 = . i0 + . j0 + . k0= . jo dt dt dt dt r k o

0 vi: dKi = ds i dq i ds i 0 dp i dq i T dp i = dAi . A i 0

Ma trn phn i xng, trong dpi, dqi v dsi l cc thnh phn quay theo cc trc. Ta c: ro = Ai ri vi Ai l ma trn quay ca khu th i. Nu xt theo h to thun nht ta c th vit:

A 0 ro = . ri 0 1
dA 0 dro = . ri = 0 1 dA 0 dA 0 0 1 . 0 1 .r0 =
T

dA 0 A T 0 0 1 . 0 1 .

dA .A T r0 = 0 dx 0 dy T 0 = dA .A dz 0 0 1

0 . r0 1
0 x 0 0 y 0 . z 0 0 1 1

0 . 1

x 0 0 ds i dq i y 0 = ds 0 dp i z 0 dq i dp i 0 0 0 0 1

dx 0 x 0 0 ds i dq i x 0 dy = y = hay: 0 ds 0 dp i . y 0 0 dq dp 0 z 0 dz 0 z 0 i i
(3) Chuyn ng vi phn tng qut Trong dch chuyn vi phn tng qut (bao gm c dch chuyn quay ln dch chuyn tnh tin), bng cch kt hp hai trng hp va xt ta c trng hp di chuyn vi phn tng qut:

A 0 ro = . ri 0 1 A T A i C i = 0 1 0
i

A T Ci i . ro 1
Ci .r0 = 1 dK i 0
T T T dA dCi A A Ci .r0 . 1 0 1 0

dA dc i dro= .ri= 0 1 dA A T dro= 0

dA dC i A 0 1 . 0

dc i dA A T C i .ro = 1

dC i dK i C i .r0 1

dx 0 0 ds i dq i dy 0 = ds i 0 dp i hay: dz 0 dq i dp i 0 0 0 1 0

da i b i dq i + C i ds i dx 0 db i a i dq i + C i dp i . dy 0 dc i a i ds i + b i dp i dz 0 1 1

Trong dpi, dqi, dsi, dai, dbi v dci l cc thnh phn quay vi phn theo cc trc 0x, 0y, 0z v cc thnh phn tnh tin vi phn theo cc trc trn, chng nh gi s thay i nh ca v tr khu th i. Chng i din cho 6 bc t do trong chuyn ng khng b rng buc ca khu th i; tuy nhin, khng phi chng lun cng ng thi khc 0. Phng php trn cho thy s thay i v tr ca mt im trn khu th i khi c s thay i nh ca cc bin v tr ca khu. Tng qut hn ta xt chuyn ng vi phn tng i gia hai khu i v j th c:

dK ij drij = 0

dc ij dK ij C ij .rij = i,j 1

Trong dpij, dqij, dsij, daij, dbij, v dcij l cc thay i vi phn ca 6 bin v tr (quay v tnh tin theo cc trc 0x, 0y, 0z) ca khu i tng i so vi khu j. Sau y ta quan tm n hai vi phn:

= (da, db, dc, dp, dq, ds)T: vi phn ca 6 bin v tr (quay v tnh
tin theo 3 trc) ca khu tc ng cui.

dx = (dx1, dx2, ..., dxr)T: vi phn ca cc bin di chuyn c lin quan.

Ma trn Jacobi ca tay my r trc l J(p): J(x) =
dD (x) dx

dD = J(x).dx

Phng trnh c c trn cho thy mi quan h gia cc vi phn ca bin v tr dD v cc vi phn ca bin di chuyn dx. T ta c hai bi ton trong chuyn ng vi phn nh sau: (a) Bi ton thun: Khi cho bit cc thay i b ca cc bin di chuyn (thng l chuyn v quay nh ti cc khp bn l hay di chuyn nh ti cc khp trt), ta c th xc nh c thay i v tr ca cc khu hay im tc ng ca khu u cui. (b) Bi ton nghch: Khi cn thc hin cc thay i b v v tr cc khu hay ca im tc ng cui, nh mi quan h trn ta s bit c cn phi cho cc bin di chuyn thay i mt lng nh bng bao nhiu t c yu cu trn (ngha l bit c cn phi to chuyn v quay nh ti cc khp bn l hay dch chuyn nh ti cc khp trt l bao nhiu. 3.5.3- Trnh t gii cc bi ton thun nghch trong chuyn ng vi phn.

Bc 1: Lp ma trn DH tuyt i cho im trn khu tc ng cui trong ma trn DH s c thnh phn ma trn xoay A.

dK Bc 2: Xc nh ma trn DH v xc nh ma trn 0

dc dK .c . 1

Bc 3: Xc nh mi lin quan gia s thay i nh ca v tr theo to Descartes ca im tc ng cui v cc vi phn ca cc bin v tr. Bc 4: Nh mi quan h xc lp trn v phng trnh:

dK dro = i 0

dc i dK i .c i . ro 1

ta xc nh quan h gia vi phn cc bin v tr v vi phn cc bin di chuyn dD = J(x).dx. T y ta c th gii bi ton thun.

Khi gii bi ton nghch c th xc nh vi phn cc bin di chuyn

nh vo dx = J(x).dD (trong qu trnh gii ta s dng Jacobian j(x) ca ma trn Jacobian J(x)). 3.6- Khng gian lm vic v h s phc v ca tay my 3.6.1- khng gian lm vic Khng gian lm vic ca mt tay my hay robot rt a dng ph htuc vo cu to ca chng. Trong phn phn loi robot theo hnh hc ca khng gian hot ng chng ta cp n vn ny. Dng hnh hc phc tp nht l khng gian lm vic ca robot lin kt vi nhau bng cc khp bn l c cc trc quay khng song song vi nhau; trong trng hp ny, khng gian lm vic ca robot s l phn khng gian c gii hn bi nhiu mt cu giao nhau (xem hnh 3.20). iu cn quan tm y i vi ngi thit k hoc ngi khai thc s dng l phi bit cc gii hn hay ng bin ca vng khng gian lm vic b tr mt cch hp l v tr ca tay my hoc robot vi cc thit b phi hp thao tc khc trong h thng. Nhng phn tch tip theo y s cho thy rng nu khng b tr mt cch hp l th nhng gii hn v mt cu to s lm cho khu tc ng cui ca tay my khng th pht huy ht tc dng vn c ca n.

Mt iu d nhn thy nht i vi mi tay my l khu tc ng cui ch c th tip cn vi i tng thao tc nm cc v tr bin ca khng gian hot ng theo mt hng duy nht. Trong khi , nu i tng thao tc nm bn trong vng khng gian hot ng ca tay my v cng gn vng trung tm ca vng khng gian ny bao nhiu, th tay my c th tip cn n i tng nhiu hng khc nhau by nhiu. Trong trng hp tay my c th tip cn vi i tng thao tc nhiu hng, ta c khi nim khng gian lm vic c d phng cao; hiu mt cch khc, trong trng hp ni trn, nh s bc chuyn ng vn c nhiu li gii v v tr v hng tip cn n i tng thao tc.

Hnh 3.20- S m ta vng khng gian hot ng ca robot PUMA to cu. R rng l nu d phng cao th tay my d dng thao tc hn trn i tng. Ta gi kh nng d phng ny ca tay my l h s phc v. Hnh 3.21- S tay my c khng gian hot ng trong to hn hp.

3.6.2- H s phc v Khc vi s nguyn l hot ng, trong thit k v s dng robot vo cng vic c th ngi ta quan tm n min khng gian thc m b phn chp hnh trn tay my (tay gp hoc dng c) c th vi ti c nhm mc ch khai thc hp l cho cng vic sn xut v l mt khi nim quan trng i vi robot cng nghip ni ln kh nng linh hot ca chng, ngoi nhng thng s hnh hc th hin khng gian lm vic nh trn. Xt tng qut mt tay my gm mt chui ng khng gian h; mi im trong khng gian lm vic tn ti mt gi tr gc gi l gc phc v, sao cho trong gii hn ca gc ny, tay gp ca robot lun tip cn c vi im nu. C th nhn thy rng gc phc v c xc nh bi t s gia din tch mt cu b ct ra im ang xt vi bnh phng bn knh ca hnh cu . Do gi tr ln nht ca gc phc v max =
4 r = 4 rad. r

Quan h gia gc vi gi tr ln nht ca n l = /4 c gi l h s phc v im ang xt. ln ca h s phc v c th thay i t 0 (i vi nhng im nm trn bin ca vng khng gian lm vic ti tay gp c mt v ch mt phng di thng tip cn n im) n 1 (i vi nhng im nm trong vng khng gian lm vic ni m tay gp c th tip cn n im t nhng phng tu ). xc nh gi tr ca h s phc v , ta cn phn tch chuyn ng cc khu ca tay my khi gi nh tay gp nhn nhng v tr c nh khc nhau. C th minh ho cch xc nh qua v d ca c cu tay my trn hnh 3.26. C cu tay my kho st vi cu to gm hai khp cu A, C v 1 khp bn l B. xc nh gc phc v ca tay my mt im E no trong vng khng gian lm vic ta xem c cu tay my nh mt c cu bn khu khng gian c 3 khp cu A, C, v D (D trng vi E) v khp bn l B. Trc tin, ta xc nh nhng v tr c th thc hin ca khu CD, chnh l

tay gp trong mt phng hnh v, sau xc nh nhng v tr ca khu ny trong khng gian bng cch quay c cu bn khu ABCD quanh gi AD (AD=r) quanh trc 0x ca h trc to kho st 0xyz. Hnh 3.22- V d xc nh h s phc v (tr216) Bn trong vng khng gian lm vic l phn khng gian m h s phc v = 1, gc phc v = 4 im C phi t c mi v tr trong hnh cu tm D bn knh DC = l3; ni cch khc, iu ny thc hin c khi khu CD quay c ton vng. Nh bit mn hc nguyn l my v iu kin quay ton vng ca khu ni gi (tay quay) i vi c cu bn khu bn l th hin rng buc l tng chiu di ca khu ngn nht v khu di nht phi nh hn tng chiu di ca cc khu cn li. Do : (1) Nu khu l l khu di nht v khu 3 l khu ngn nht, ca bn knh vect r, vi rmin = r1 = l1 - l2 + l3. (2) Nu khu di nht l khu AD = r v khu ngn nht l khu 3, th iu kin trn s l r + l3 l1 + l2, t y ta nhn c gii hn trn ca bn knh vect r, vi rmax = r2 = l1 + l2 - l3. Trong gii hn t r1 n r2 (vng II) = 1: (3) Nu khu 3 khng quay c ton vng (ng vi trng hp khu 3 khng phi l khu ngn nht th < l (ng vi vng I v III). nhng v tr gii hn trn bin, khi cc khu 1, 2, 3 nm trn cng mt trc Ax th = 0, ng vi v tr r = ro = l1 - l2 - l3 (gp li ht c) v v tr r = r3 = l1 + l2 + l3 dui thng ht c). Ti mt im bt k trong vng I hoc III, chng hn im D, c th xc nh h s phc v nh sau: Tm gc quay ln nht m ca tay quay CD khi cc khu AB v BC thng hng, xc nh din tch phn mt cu bn knh R = l3 v gc = m.

C th nhn thy rng phn din tch vi cp ca mt cu dS = 2R sin d. Rd, vi 0 m.

m

S=

2R2 sin d = 2R2(1-cosm)

Trong trng hp ny R = l3 v S = 2 2l3 (1-cosm), t ta xc nh c h s phc v ca tay my ti v tr D.

2 S / 3 1 cos m = = = 4 4 2

Trn hnh 3.26 th hin th = (r) cho trng hp c cu c quan h kch htc ng nh trn hnh v. Nhng th tng t v s thay i ca h s phc v khng nhng ch c dng cho bi ton phn tch ng hc c cu tay my c sn m cn rt c ch khi thit k s ng hc theo nhng iu kin cho trc.