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Cch xc nh b thng s Denavit - Hartenberg (DH

y l phn quan trng nht trong mn Robot cng nghip (theo ngu kin of LEE )

Quy tc Denavit - Hartenberg (DH) l mt thut gii quen thuc v hiu qu xc nh phng trnh ng hc ca cc r bt cng nghip c nhiu khu ni tip nhau thng qua cc khp ng. Cc bc ch yu thit lp phng trnh ng hc r bt bng b thng s DH l: - Chn h to c s v gn cc h to c s ln cc khu. - Lp bng thng s DH (gm b thng s , , a, d). - Xc nh cc ma trn quan h An da vo cc thng s DH tm c. - Tnh cc ma trn T v vit phng trnh ng hc ca r bt theo ma trn T cui cng. Trong thc t, cc r bt cng nghip thng c cc trc khp song song hoc vung gc vi nhau, v bi vit ny chng ta cng xt cc r bt nh vy. Vic gn h to ln cc khu chnh xc ng vai tr rt quan trng khi xc lp phng trnh ng hc r bt, y l bc kh nht v l cha kho gii quyt bi ton ng hc. Theo kinh nghim ca mnh, vic xc nh cc h to ln cc khu chng ta cn lu cc im quan trng sau: - Cc h to Oxyz phi tun theo quy tc bn tay phi, y l yu cu u tin v bt buc. - Cc trc zn phi chn cng phng vi trc khp n+1. - Cc trc xn l trc quay ca zn thnh zn+1. Trong qu trnh gn h to , nu xut hin php quay ca trc zn+1 i vi zn quanh trc yn th v tr ban u (Home position) ca r bt gi nh khng ng v phi chn li. - Khi xut hin trc khp quay ni tip trc khp tnh tin th gc to ca khu tnh tin t trng vi gc to ca khu quay. Vi cc r bt cng nghip thng c cc trc khp song song hoc vung gc vi nhau, qua qu trnh gii quyt mt s bi ton ng hc r bt, mnh cng rt ra c mt s kinh nghim xc nh b thng s DH nh sau: - Vi khu tnh tin: d = d* (bin khp), = a = 0 (nu xut hin cc trng hp nh trn th xc nh a theo cc quy tc ). - Vi khu quay: = * (bin khp). - Khi cc trc z khng ct nhau th a = di php truyn chung nh nht ca hai trc. Khi cc trc z ct nhau th a = 0. - n l gc gia cc trc z trong mt phng vung gc vi an. n = gc quay quanh trc xn bin zn thnh zn+1. - dn l khong cch gia cc php tuyn o dc theo trc khp n. Khi cc trc x khng ct nhau th dn = khong cch gia xn-1xn . Khi cc trc x ct nhau th dn = 0.

Mt s v d gn h to ln r bt p dng quy tc DH:

R bt SCARA

R bt ELBOW

R bt RTT

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