Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
M hnh ho c h tay my song song v xy dng trung tm gia cng trn
my phay CNC 5 trc o
Modeling of parallel manipulator system and building of machining center on
the CNC-5 axis milling machine
L Hoi Quc
*
, Nguyn Minh Thnh
#

*
S Khoa hc v Cng ngh TP. H Ch Minh
#
Trng i hc Giao thng Vn ti TP. H Ch Minh
Email: quoclehoai@tphcm.gov.vn, minhthanhnguyen@vnn.vn

Tm tt
Bi bo xut c s tnh ton v xc nh cc thng
s ng hc, ng lc hc v m hnh ho phc v
cho iu khin tay my song song Stewart-Gough
Platform (Hexapod), trong gii quyt mi quan
h vn tc, gia tc gia tm chuyn ng vi cc chn
trong cc ng dng; quan h gia ngoi lc tc ng
trn tm chuyn ng vi lc tc ng trn cc chn
ca c h.
Da trn c s , mt c h tay my robot song song
su chn (Hexapod) da trn nguyn l Gough
Stewart Platform c xy dng cho mc ch hnh
thnh mt trung tm gia cng trn my phay CNC 5
trc o. Bn my (mang phi) c vn hnh bi
Hexapod c cc chn c iu khin bi ng c
tuyn tnh.
H thng Hexapod-CNC c s dng gia cng
cc mu kim loi. H thng c cc thng s k thut:
khng gian hot ng (X/Y/Z): 440/440/380mm, 28
o

quanh trc A/B; s vng quay trc chnh 0:5000
vng/pht; chnh xc nh v: 0,035m, chnh
xc lp li: 0,15m. H thng c b iu khin tch
hp PC-based vi phn mm iu khin hot ng gia
cng to hnh theo chun IEA (G&M code) tng
thch vi cc phn mm CAD/CAM chun.

Abstract
This paper studies on the basis of computation and
determining the parameters of kinematic, dynamics
and modeling for the control parallel manipulator in
the form Stewart-Gough Platform (Hexapod), which
resolved relations velocity, acceleration between the
moving platform with the legs in the application; and
relationship between external forces acting on the
moving platform with forces on the legs of the
system.
On that basis, a system of parallel robot manipulator
system with six legs (hexapod) based on the principle
Gough - Stewart Platform is built for the purpose of
forming a machining center on the CNC-5 axis
milling machine on the virtual. Table (the pleura) is
operated by the hexapod has the legs are driven by
linear motors.
Hexapod-CNC system used for processing the metal
form. The system has the specifications: Workspace
(X/Y/Z): 440/440/380mm, 28 around the axis A/B;
0:5000rpm spindle revolutions/min; accuracy
positioning: 0.035m, repeat accuracy specified:
0.15m. The system controller with integrated PC-
based control software the processing of visual
standard IEA (G&M code) compatible with
CAD/CAM standards.

1. Phn m u
Tay my song song l mt cu trc gm nhiu chui
ng kn vi mt nhm cc trc v c cu tc ng
cui mc song song nhau. Do hnh thnh t nhng
chui ng kn (closedloop mechanism) gm nhiu
chui ng ni tip (serial kinematics chains) cng
ni vi khu chp hnh (moving platform) v nn
(base) nh vy s lm tng cng vng cao, tc
tc ng cao, chnh xc cao v ti trng ln hn
hn cc loi tay my ni tip [1-13].
Qua tng hp nhng ti liu cng b cc kt qu
nghin cu v trin khai trong nc hin nay v robot
song song [14], c th thy cha c n v no gii
quyt nhng vn rt c bn v quan trng trong
tnh ton thit k h thng, xc nh cc thng s cu
trc v ng hc ti u cho h thng, trong mi lin
quan n cc vn gia cng to hnh, ni cn s
iu khin hot ng phi hp ca cc trc (6 trc)
to chuyn ng cho bn my (hoc dng c ct).
Phn tch nhng cng trnh nghin cu ngoi nc c
lin quan [14], nhng vn mang tnh thc tin cao
nm cc phng php tnh ton cu trc ti u, m
hnh ng lc hc c tnh n ma st v cng vng
ca h thng, chnh xc v x l thi gian thc cho
m hnh bi ton ng lc hc ngc, nhn dng
chnh xc cc thng s ca m hnh v kin trc iu
khin xp x trn c s kt hp hai m hnh iu
khin gm iu khin feedback v iu khin
feedforward vi b lp gip gim thiu nh hng
ca nhiu l nhng vn cn phi c quan tm
gii quyt.
Trn c s nhng phn tch nu trn, cng trnh ny
thc hin c bn vic xy dng c c h tay my
song song Stewart-Gough Platform (Hexapod) phc
v gia cng ct gt hng ti xy dng mt trung
tm gia cng trn my phay CNC 5 trc o [14].
200
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Ni dung bi bo gm vic tnh ton ng hc, ng
lc hc c cu, lc qun tnh v lc ng dng
(applied force), m phng ng lc hc, m phng
qu trnh gia cng, xy dng phn mm c v bin
dch lnh iu khin v cui cng l ng dng chng
trn h thng Hexapod + CNC 5 trc o.

2. Phn tch ng hc c cu
Bi ton xc nh cc thng s ng hc phc v cho
iu khin bao gm vic xc nh mi quan h vn
tc, gia tc gia tm chuyn ng vi cc chn trong
trng hp ng dng.
thc hin iu , cc thng s ng hc ca c
cu song song (xem hnh H.1) c xc nh nh sau:
cc nh ca tm dch chuyn c nh ngha bi su
vector tng ng h ta dch chuyn (P), v b c
gn vi h ta c nh (B). Ngoi ra, mt h ta
C(x
i
, y
i
, z
i
) c gn vi mi chn (th i) v gc ta
nh v ti im B
i
ca dn ng i, trc z
i
c xc
nh t im B
i
n P
i
, trc y
i
song song tch ng
cho ca hai vect n v c nh ngha dc theo
trc z
i
v trc z, v trc x
i
c xc nh bng qui tc
bn tay phi.

H. 1 C cu song song
Ma trn xoay c xc nh bi cc php quay gc
(roll-pitch-yaw) ca khu ra c xc nh:

0
0
0
0 0 0 1
c c c s s s c c s c s s
s c s s s c c s s c c s
R
s c s c c
o | o | o o | o
o | o | o o | o
| | |
(
(
(
(
(

+
+
=

(1)
vi co = cos o, so = sin o.
Vn tc gc ca tm dch chuyn c xc nh:

. . .
, , ;
T
p
e | o =
(
(

(2)
v gia tc gc ca tm dch chuyn l:

. .. .. ..
, , ;
T
e | o =
(
(

(3)
Theo , v tr, vn tc v gia tc ca cc chn nhn
c t v tr, vn tc v gia tc ca tm dch chuyn.

2.1 Phn tch v tr
Phng trnh vect vng trn mi chn c th vit
nh sau:
b
i
+ L
i
s
i
= p + p
i
; i = 1,...,6 (4)
trong :
b
i
= [b
xi
, b
yi
, b
zi
]
T
l vect v tr ca im B
i
trong
h ta B;
p
i
= [p
xi
, p
yi
, p
zi
]
T
l vect v tr ca im
Pi
trong
h ta P;
L
i
l chiu di ca chn th i;
s
i
l vect m t B
i
ti P
i
;
p = [p
x
, p
y
, p
z
]
T
l vect v tr ca tm khu ra;
T (4), ta c:
s
i
= (p + p
i
b
i
)/L
i
(5)
trong :
L
i
= || p + p
i
b
i
|| (6)

H. 2 Gc Euler ca mt chn
Gi s, mi chn c ni vi nn bng khp Cc
ng, gc hng ca n c mi quan h n nn
thun tin c th m t bi hai gc Euler. H ta
(xem hnh H.2) c nh v ti chn th i c th a
ra bi gc |
i
quanh trc z
i
trong h (x
i
, y
i
, z
i
) v mt
gc quay khc l u
i
quanh trc y
i
. Theo nh ngha
ny, ma trn quay
B
R
i
(ma trn quay ca khu trong h
ta i i vi h ta B) ca chn th i c th vit:

0
i i i i i
B
i i i i i i
i i
c c s c s
s c c s s
s c
R
| u | | u
| u | | u
u u

(
(
=
(
(

(7)
vi c| = cos |, s| = sin |.
Ct th ba ca phng trnh (7) th hin vect s
i
:

i i
i i i
i
c s
s s s
c
| u
| u
u

=
(
(
(
(

(8)
Gii phng trnh (8) theo u
i
v |
i
ta tm c:
cu = s
zi
;

2 2
; (0 );
i xi yi
s s s u u t = + s s (9)
x
x
i
x
i

y
y
i

y
i

z
i

z
i

z
|
i

u
i

B
i

P
i

P
3
P
i

P
1

B
5

B
6

B
1
B
1

B
i
B
3

B
4

P
6
P
5

P
4

L
i

P
p
b
i

p
i

Khp Cc ng
Khp lng tr
Khp cu
Z

O

x
y
z
i

x
i

y
i

201
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
s|
i
= s
yi
/ su
i
;
c|
i
= s
xi
/ su
i
;
trong s
xi
, s
yi
, s
zi
l thnh phn x, y v z ca s
i
.
T phng trnh (5) v (9) chng ta xc nh c
hng v gc Euler ca chn th i trong h ta
dch chuyn lin quan.
Tip theo, chng ta tin hnh kho st trn tng chn
ca c cu song song. Quan st trn hnh H.3, trn
mi chn bao gm mt xy lanh (khu 1) v mt piston
(khu 2). Chng ta t e
1
l khong cch t B
i
n tm
ca xy lanh, v e
2
l khong cch t P
i
n tm ca
piston ca chn th i. Nh vy, tm khi lng ca xy
lanh v piston l:
r
1i
= b
i
+ e
1
s
i
; (10)
r
2i
= b
i
+ (L
i
e
2
)s
i
; (11)
trong r
ji
vect v tr ca vt th (mass) ca khu
th j trong chn th i, (j = 1, 2) v (i = 1,...,6).

H. 3 Cc thng s xc nh trn chn th i ca c cu
2.2 Phn tch vn tc
Vn tc ca tm khp cu, P
i
, c tm thy bng
cch o hm theo thi gian v phi ca phng trnh
(4):
;
pi p p i
v v p e = + (12)
trong :
v
pi
l vn tc ca tm khp cu P
i
;
v
p
l vn tc ca (khi lng) tm khu ra P ca
tm dch chuyn;
v
ji
l vn tc ca vt th (mass) ca khu th j
trong chn th i;
e
p
l vn tc gc ca tm dch chuyn;
g l vect trng lc;
m
i
l khi lng ca khu i;
m
p
l khi lng ca tm dch chuyn;
T phng trnh (12), ta tin hnh bin i v
pi
trong
h ta ca chn th i:
;
i i
B pi pi
R v v = (13)
trong
, , ,
, ,
i i i
pi x pi y pi z
i
pi
v v v v (

= l vn tc
ca B
i
th hin trong h ta ca chn th i, v
;
T
i
i B
B
R R =
Vn tc ca P
i
cng c th th hin theo dng ca vn
tc gc ca chn th i bng cch o hm theo thi
gian v tri ca phng trnh (4):
;
i i i
i i i i i
i
pi
s L s v L e + = (14)
trong e
i
l vn tc gc ca chn th i;
Dot multiplying (.) bn trong phng trnh (14) theo
i
s
i
:

,
;
i
i
pi z
L v = (15)
Khi , chn th i s khng quay dc trc ca n,
0
T
i i
s e = .
Cross multiplying () bn trong phng trnh (14)
theo
i
s
i
:

( )
,
,
1 1
;
0
i
pi y
i i i i
i i pi pi x
i i
v
s v v
L L
e

= =
(
(
(
(

(16)
T phng trnh (15) chng ta xc nh c vn tc
tuyn tnh ca piston quan h n xy lanh, trong khi
phng trnh (16) xc nh c vn tc gc ca
chn th i. Vn tc tuyn tnh
i
L v vn tc gc
i
i
e
c xc nh, v vy vn tc ca tm ca xy lanh
v piston s c tm thy bng cch ly vi phn
phng trnh (10) v (11):

,
1
1 1 ,
;
0
i
pi x
i i i i
i i i pi y
i
v
e
v e s v
L
e = =
(
(
(
(

(17)
v

2 ,
.
2 2 2 ,
,
( )
1
( ) ( ) ;
i
i pi x
i i i i i
i i i i i i i pi y
i i
i pi z
L e v
v L e s L s L e v
L
L v
e

= + =
(
(
(
(

(18)

2.3 Phn tch gia tc
Gia tc ca im P
i
c tm thy bng cch o hm
theo thi gian phng trnh (12):
( )
;
p p pi p p i i
v v p p e e e + = + (19)
Th hin
pi
v trong h ta ca chn th i:
;
i i
pi B pi
v R v = (20)
Gia tc ca im P
i
cng c th th hin theo dng gia
tc gc ca chn th i bng cch o hm theo thi
gian phng trnh (14):
( ) 2 ;
i i i i i i i i i
pi i i i i i i i i i i i i
v L s s s L s L L e e e e + + + = (21)
Dot multiplying (.) bn trong phng trnh (21) theo
i
s
i
:
( )
2 2 2
, , ,
/ ;
i i i i i
ii pi i i pi z pi x pi y i
L v v v v L L e = + = + + (22)
e
1

x
y
z
O
P
i

B
i

L
i

e
1

e
2

m
1
g
m
2
g
r
2i

r
1i

202
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Khi , chn th i s khng quay dc trc ca n,
,
0
i
i z
e = . Cross multiplying () bn trong phng
trnh (21) theo
i
s
i
:

.
1 2 i
i i i i
i i pi i
i i
s v
L L
L
e e =


, , ,
, , , 2
2
1
2 ;
0
i i i
i pi y pi z pi y
i i i
i pi x pi z pi x
i
L v v v
L v v v
L
+
=
(
(
(
(

(23)
T phng trnh (22) chng ta xc nh c gia tc
tuyn tnh ca piston quan h n xy lanh, trong khi
phng trnh (23) xc nh c vn tc gc ca
chn th i. Gia tc tuyn tnh
i
L v vn tc gc
i
i
e
c xc nh, v vy gia tc ca tm ca xy lanh
v piston s c tm thy bng cch ly vi phn
phng trnh (17) v (18):
( )
1 1 1
i i i i i i
i i i i i i
v e s e s e e e = +

( )
, , ,
1
, , , 2
2 2
, ,
2
2 ;
i i i
i pi x pi z pi x
i i i
i pi y pi z pi x
i i i
pi x pi y
L v v v
e
L v v v
L
v v

=
+
(
(
(
(

(24)
v
( )
2 2 2
( ) ( ) 2
i i i i i i i i i
i i i i i i i i i i i i i
v L s L e s L e s L s e e e e = + + +

( )
2 , 2 , ,
2 , 2 , , 2
2 2 2
, 2 , ,
( ) 2
1
( ) 2
i i i
i i pi x pi z pi x
i i i
i i pi y pi z pi y
i i i i
i pi z pi x pi y
L L e v e v v
L L e v e v v
L
L v e v v
+
= +
+ +
(
(
(
(

(25)

3. Lc qun tnh v lc ng dng
Gi s lc hp dn l lc duy nht tc dng ln tay
my. Tng vect ca lc (wrench) ng dng v lc
qun tnh c dng ti tm khi lng ca tm dch
chuyn l:

( )

e p p p
p
B B p
c p p p p p
p
f m g m v
f
F
n I I
n
e e e
+
= =

( (
( (

(26)
Trong f
e
v n
e
l lc m rng v momen m rng
c dng ti tm khi lng ca tm dch chuyn,
v
B B P P
p P p B
I R I R = l ma trn qun tnh ca
tm dch chuyn t ln tm ca tm dch chuyn v
c th hin trong h ta c nh B.
Tng vect ca lc m rng v qun tnh c dng
ti tm khi lng ca xy lanh v piston th hin
trong h ta khu i c a ra:

( )
1 1 1 1
1
1 1 1

i
i B i i i i
i i i i i i
i i i i i i
m R g m v f
F
I I n e e e

= =

(
(
(
(


(27)

( )
2 2 2 2
2
2 2 2

i
i B i i i i
i i i i i i
i i i i i i
m R g m v f
F
I I n e e e

= =

(
(
(
(


(28)
trong :
k
I
i
: ma trn qun tnh ca khu i trn tm khi
lng ca n v th hin trong h ta k;
f
i
: kt qu lc (loi tr lc dn ng) t ti tm
khi lng ca khu th i;
f*
i
: lc qun tnh t ti tm khi lng ca khu
th i,
*
i i i
f mv = ;
*

:
i i i
f f f + ;

ji
f : kt qu lc ng dng v lc
qun tnh t ti tm khi lng ca khu th j
ca chn th i;
f
p
: kt qu lc t ti tm khi lng ca tm dch
chuyn;
f*
p
: lc qun tnh t ti tm khi lng ca tm
dch chuyn,
*
p p p
f m v = ;
*

:
p p p
f f f + : kt qu lc ng dng v lc qun
tnh tm khi lng ca tm dch chuyn;
n
i
: kt qu momen (loi tr momen xon dn
ng) t ti tm khi lng ca khu i;
n*
i
: momen qun tnh t ti tm khi lng ca
khu th i, ( )
* i i i i i
i i i i i i
n I I e e e = ;
*
:
i i i
n n n + : kt qu momen ng dng v
momen qun tnh tm khi lng khu th i;
n
p
: kt qu momen t ti tm khi lng ca tm
dch chuyn;
n*
p
: momen qun tnh t ti tm khi lng ca
tm dch chuyn, ( )
*
p p p p p p
n I I e e e = ;
*
:
p p p
n n n + : kt qu momen ng dng v
momen qun tnh tm khi lng ca tm dch
chuyn;

ji
n : kt qu momen ng dng v momen qun
tnh t ti tm khi lng ca khu th j ca chn
th i;
q: vect ca chiu di chn dn ng, q = [L
1
, L
2
,
L
3
, L
4
, L
5
, L
6
]
T
;
iu ny cho thy tnh i xng ca h ta
c chn, ma trn qun tnh ca tm dch chuyn v
su chn tt c l ma trn cho.

4. M phng ng lc hc c cu
4.1 ng lc hc c cu
thit k mt h thng c chc nng hot ng cao,
xut mt phng php iu khin h thng l mt
vic ht sc cn thit. Tuy nhin iu khin tt mt
thng Stewart-Gough Platform l rt phc tp, bi v
trong h thng ng lc hc tn ti tnh cht phi tuyn
cao v ng hc phc tp. Trng hp tng qut,
203
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
phng trnh ng lc hc [8] ca c h Stewart-
Gough Platform c vit nh sau:
( ) ( , ) ( )
T
g
H q q C q q q q J t t + + = (29)
trong :
( ) H q l ma trn momen qun tnh (n n), v
( ) H q l ma trn i xng v xc nh dng vi
mi
6
q R e ;
( , ) C q q l vect th hin cc lc qun tnh ty tm
v Coriolis;
( )
g
q t l vect (n 1) th hin momen xon to
ra bi trng lng ca c h v t l vect (n1)
th hin momen xon ti im thuc khu tc
ng cui (to bi lc tc ng).
q = [x
p
, y
p
, z
p
, |
x
, |y, |
z
]
T
;
Cc thng s trong phng trnh ng lc hc c
xc nh trong [8].

4.2 Chng trnh tnh ton v m phng ng hc
v ng lc hc
Thut ton v chng trnh tnh ton, m phng c
thc hin bi gi phn mm Matlab da trn phn
tch ng lc hc c cu phn trn. Chng trnh
tnh ton m phng c thc hin theo ba bc:
Bc 1: nh ngha cc thng s ng hc v nhng
biu thc ton hc xc nh nhng rng buc ca c
cu song song bng chng trnh ti u ha. Nhng
thng s a ra nhm c lng chiu di ca cc
chn v minh ha c cu song song bng hnh nh
phi cnh.
Bc 2: Tin hnh kho st bi ton ng lc hc c
cu khi cho bit v tr tc thi ca im tc ng cui
cng nh cc thng s khc (vn tc, lc, moment tc
ng) th kt qu chiu di, vn tc v lc tc ng
ca cc chn s c xc nh.
Bc 3: M phng chuyn ng ca c cu t im
hin ti n im ch cho trc. Cc thng s nh
vn tc, lc tc ng ln cc chn c cp nht lin
tc theo s thay i v tr ca tm dch chuyn (xem
hnh H.4).

H. 4 M phng chuyn ng ca c cu song song
Cc kt qu phn tch ng lc hc c th hin da
trn phng trnh Lagrange loi II. ng lc hc c
h tay my song song Hexapod di tc ng ca
lc cng tc c m phng y . Chuyn ng
ca c cu song song t im hin ti n im ch
cho trc c m t bng hnh nh trc quan. Cc
thng s nh vn tc v lc tc ng ln cc chn s
c cp nht lin tc theo s thay i v tr ca tm
dch chuyn.

5. M phng qu trnh gia cng ca c h
Kt qu m phng qu trnh gia cng c thc hin
trn phn mm Solidworks gip chng ta c s lin
tng mt cch trc quan v qu trnh gia cng trn
my phay CNC 5 trc c mang Hexapod. y trung
tm gia cng gm c hai b phn chnh l: my phay
v Hexapod.
Gi s phi dng gia cng c hnh dng nh hnh
H.5, vi chiu di 300 mm, chiu rng 180 mm, chiu
cao 50 mm.
thun tin cho qu trnh rng buc m phng,
chng ta tin hnh gia cng b mt ln sng vi
nhng ng gn song song vi phng gia cng
cch nhau 10 mm bng vi ng knh dng c ct l
dao phay ngn, tr.

H. 5 Mu phi
Sau khi chun b phi c rng buc c nh phi
ln bn my nh hnh H.6.

H. 6 Phi c gi trn bn my
Tip theo ta tin hnh rng buc dao vi phi. Dng
c ct y s dng l dao phay ngn, nn trong qu
trnh gia cng trc dao lun vung gc vi b mt gia
cng ti v tr tip xc gia dao v phi. khi gia
cng dao lun vung gc vi b mt gia cng ging
nh trong thc t chng ta to mt tam gic u ngay
trn mt u ca dao v tm tam gic trng vi tm
dao. Sau chng ta rng buc ba nh ca tam gic
vi b mt gia cng v gn tip xc ca cn dao vi
gn to trn b mt phi, nh vy l qu trnh rng
buc dao vi phi hon tt.
Trong trng hp ny, ch dch chuyn bn my theo
mt phng nht nh l c th gia cng c phi
204
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
ny. Nn chng ta rng buc cho mt bn ca phi
song song vi mt mt c nh ( y chn mt trc
ca my phay).
ghi li qu trnh m phng gia cng b mt, nhp
con tr vo Motion Study cui mn hnh, sau gn
ng c v iu khin gin thi gian c phim
m phng theo mong mun (xem hnh H.7).

H. 7 M phng qu trnh gia cng b mt

6. Thit k phn mm c v bin dch
cc lnh iu khin trn my phay
CNC 5 trc dng m lnh G&M
code
Sn phm kt qu l phn mm chuyn dng c
kim nghim qua thc t c trc tip chng trnh
gia cng t phn mm chuyn dng cho my phay 5
trc PowerMill hoc DelCAM ang c s dng cho
my phay 5 trc HAAS gia cng trn my phay 5
trc o trn c s robot song song (Hexapod). M
ngun ca chng trnh phn mm c cho trong
[14]. Giao din ca phn mm iu khin c trnh
by nh hnh H.8.

H. 8 Giao din ca phn mm iu khin 5.2

7. H thng my phay CNC 5 trc o vi
Robot song song - Hexapod
Trn hnh H.9 gii thiu cu trc v h thng iu
khin ton my. a h thng vo s dng, mt s
vn c thc hin: xy dng quy trnh th
nghim tng phn cc hot ng chc nng v th
nghim phi hp cc chc nng trn my, kt ni my
phay CNC 5 trc hin c, thit k ch to b sung
g th nghim, Xy dng phn mm iu khin gia
cng kt hp vi PC, xy dng quy trnh th nghim
robot song song Hexapod trn c s tham chiu vi
my phay CNC 5 trc c thc hin.
Qu trnh th nghim chc nng hot ng to hnh
cc b mt phc tp ca h thng v i chiu kt qu
v kh nng gia cng to hnh b mt phc tp vi sn
phm gia cng (cng mt chng trnh xut ra t
phn mm DELCAM) trn my phay 5 trc c
thc hin Trung tm NEPTECH thuc S Khoa hc
v cng ngh TP. HCM v Trung tm nghin cu v
trin khai cng ngh cao HBK H Ni. Kt qu
gia cng th nghim [14] cho thy H thng c cc
thng s k thut: khng gian hot ng (X/Y/Z):
440/440/380mm, 28
o
quanh trc A/B; s vng quay
trc chnh 0:5000 vng/pht; chnh xc nh v:
0,035m, chnh xc lp li: 0,15m.

H. 9 Cu trc chung ca h thng my CNC 5 trc o
RBSS - Hexapod
Kt qu sn phm mu gia cng trn h thng my
CNC 5 trc o RBSS Hexapod (hnh H.10):

H. 10 Sn phm gia cng th nghim thng 8/2010 trn
my phay 5 trc o RBSS Hexapod

8. Kt lun
Cc kt qu nghin cu trnh by trn v tnh ton
xc nh v m hnh ho cc thng s ng hc v
ng lc hc phc v cho iu khin bao gm mi
quan h vn tc, gia tc gia tm chuyn ng vi cc
205
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
chn trong trng hp ng dng; quan h gia ngoi
lc tc ng trn tm chuyn.
Trn c s ny, mt robot song song Stewart-Gough
Platform c thit k, ch to v a vo vn
hnh kt hp vi my phay CNC 5 trc. Trong
chuyn ng ca bn my (mang phi) c vn hnh
v iu khin bi 6 chn (Hexapod) c gn cc ng
c tuyn tnh to chuyn ng trc tip. H thng c
b iu khin tch hp PC-based vi phn mm iu
khin hot ng gia cng to hnh theo chun IEA
(G&M code) tng thch vi cc phn mm
CAD/CAM chun c thc hin v kim nghim
kt qu qua qu trnh gia cng thc t.
H thng
Cc kt qu ny l c s ton hc xy dng h
thng, cho php ch ng trong thit k v cng ngh
ch to robot song song c 6 chui ng, hng ti
xy dng trung tm gia cng trn my phay 5 trc o.

Ti liu tham kho
[1] Tsai, L. W., The Jacobian Analysis of a Parallel
Manipulator Using Reciprocal Screws, Proc. of
the 6th International Symposium on Recent
Advances in Robot Kinematics, Salzburg,
Austria, Kluwer Academic Dordrecht, pp. 327
336. 1998.
[2] L.W. Tsai, Solving the inverse dynamics of a
Stewart-Gough manipulator by the principle of
virtual work, ASME Journal of Mechanical
Design 122, No. 1, pp. 3-9, 2000.
[3] C. I. Huang, C. F. Chang, M. Y. Yu, and L. C.
Fu, Sliding-Mode Tracking Control of the
Stewart Platform, Asian Control Conference,
pp. 561-568, 2004.
[4] Z. Geng, L. S. Haynes, J. D. Lee, and R. L.
Carroll, On the dynamics model and kinematics
analysis of a class of Stewart platform,
Robot.Autono. Syst., vol. 9, pp. 237254, 1992.
[5] W. Q. D. Do and D. C. H. Yang, Inverse
dynamic analysis and simulation of a platform
type of robot, J. Robot. Syst., vol. 5, no. 3,
pp.209227, 1998.
[6] B. Dasgupta and T. S. Mruthyunjaya, A
Newton Euler formulation for the inverse
dynamics of the Stewart platform manipulator,
Mech. Mach.Theory, vol. 33, no. 8, pp. 1135
1152, 1998.
[7] J.Wang and C. M. Gosselin, A new approach for
the dynamic analysis of parallel manipulators,
Multibody Syst. Dyn., vol. 2, pp. 317334,1998.
[8] G. Lebret, K. Liu, and F. L. Lewis, Dynamic
analysis and control of a Stewart platform
manipulator, J. Robot. Syst., vol. 10, no. 5,
pp.629655, 1993.
[9] Stewart D., A Platform with Six Degres of
Freedom. In: Pr. Inst. Mech. Eng. v.180, Pt.1,
15, pp. 371-386, 1965/1966.
[10] Kane, T. R., and Levinson, D. A., Dynamics:
Theory and Application, McGraw-Hill, New
York, N.Y, 1985.
[11] Nguyen Minh Thanh, Le Hoai Quoc, Victor
Glazunov, Constraints analysis, determination
twists inside singularity and parametrical
optimization of the parallel mechanisms by
means the theory of screws, Proc. of the 6th
Inter. Conference on Electrical Engineering,
Computing Science and Automatic Control,
IEEE 2009, Toluca, Mexico, pp. 89-95, 2009.
[12] Le Hoai Quoc, Nguyen Minh Thanh, Kinematic
Analysis, Modeling and Optimization of
Working Space of Parallel Mechanism with
Actuators Located on the Base, Proc. of the
2009 International Symposium on Mechanical
Engineering (ISME 2009), Hochiminh,
Vietnam, pp. 122-129, 2009.
[13] L Hoi Quc, K thut ngi my, Tp I
Robot cng nghip, NXB i Hc Quc Gia TP.
H Ch Minh, ti bn ln th nht, 2005.
[14] L Hoi Quc v cc cng s, Nghin cu thit
k v ch to robot song song (Gough-Stewart
Platform) s dng trong h thng thit b to
chuyn ng phc hp, hnh thnh trung tm
gia cng ch to 5 trc o, m s C.0-16/06-
10, Bo co tng kt ti trng im Nh
nc, giai on 2006-2010.

Le Hoai Quoc received PhD
in 1982 of the Institute of
Mathematics and Electronics
Moscow Russia in the
Controls of Technical
Systems. He is an Associate
Professor. From 2006, he is
the Deputy Director of
Department of Science and Technology, Peoples
Committee of HCM City; Head of National Key Lab.
of Robotics in the Vietnam National University,
HCM City; Invited Professor of HCM University of
Technology, VNU. From 2011, he is the President of
Saigon Hi-Tech Park.
His other professional activities are the Vice
Chairman of Vietnam Association of Robotics; Vice
Chairman of HCM City Association of Automation;
Member of Board of Vietnam National Program of
Mechanical Engineering and Automation KC.03/11-
15. Besides, he is the Member of Committee of
Vietnam National Program on Automation; Member
of National Committee of Professors Title on
Electrics Electronics and Automation; Chairman of
HCM City Program of Industrial Technology and
Automation; Chairman of HCM City Program of
Industrial Robots. He co-authored two books and
published many papers on national and international
journals and conference proceedings.

206