Ni dung mn hc gm ba phn

1. Cc khi nim c bn, nn tng c hc c kh trong kt cu robot.

2. iu khin robot.
3. ng dng robot.

Ti liu tham kho:

1. Modernling and control robotic.
2. Robotic control.
3. Robot v h thng cng ngh robot ho.
4. K thut robot.
5. Robot cng nghip.

Cc lnh vc c quan h cht ch:

1. Ton hc cao cp.
2. C l thuyt.
3. C hc my.
4. K thut iu khin.
5. ng hc v ng lc hc my.
5. Cng ngh thng tin.

Chng 1: Cc vn c bn v robot. (3 tit)

1.1. Cc khi nim c bn v phn loi robot:
1.1.1. Robot v robotic:

Theo tiu chun AFNOR ca php:

Robot l mt c cu chuyn i t ng c th chng trnh ho, lp
li cc chng trnh, tng hp cc chng trnh t ra trn cc trc
to ; c kh nng nh v, di chuyn cc i tng vt cht; chi tit,
dao c, g lp theo nhng hnh trnh thay i chng trnh ho
nhm thc hin cc nhim v cng ngh khc nhau.
Theo tiu chun VDI 2860/BRD:
Robot l mt thit b c nhiu trc, thc hin cc chuyn ng c th
chng trnh ha v ni ghp cc chuyn ng ca chng trong
nhng khong cch tuyn tnh hay phi tuyn ca ng trnh. Chng
c iu khin bi cc b phn hp nht ghp kt ni vi nhau, c
kh nng hc v nh cc chng trnh; chng c trang b dng c
hoc cc phng tin cng ngh khc thc hin cc nhim v sn
xut trc tip hay gin tip.

Theo tiu chun GHOST 1980:

Robot l my t ng lin kt gia mt tay my v mt cm iu khin
chng trnh ho, thc hin mt chu trnh cng ngh mt cch ch
ng vi s iu khin c th thay th nhng chc nng tng t ca
con ngi.
Bn cnh khi nim robot cn c khi nim robotic, khi nim ny c
th hiu nh sau:
Robotics l mt nghnh khoa hc c nhim v nghin cu v thit k,
ch to cc robot v ng dng chng trong cc lnh vc hot ng
khc nhau ca x hi loi ngi nh nghin cu khoa hc - k thut,
kinh t, quc phng v dn sinh.
Robotics l mt khoa hc lin nghnh gm c kh, in t, k thut
iu khin v cng ngh thng tin. N l sn phm c th ca
nghnh c in t (mechatronics).

1.1.2. Robot cng nghip:

Mc d lnh vc ng dng ca robot rt rng v ngy cng c m
rng thm, song theo thng k v cc ng dng robot sau y chng
oc s dng ch yu trong cng nghip, v vy khi nhc n robot
ngi ta thng lin tng n robot cng nghip.
Lnh vc
Hn
Phc v my NC v h thng TLH
c
Lp rp
Phun ph
Sn
Cc ng dng khc

1985

1990

35%
20%
10%
10%
10%
5%
10%

5%
25%
5%
35%
5%
15%
10%

Robot cng nghip l mt lnh vc ring ca robot, n c c trng

ring nh sau:
- L thit b vn nng oc TH theo chng trnh v c th lp trnh
li p ng mt cch linh hot kho lo cc nhim v khc nhau.
- c ng dng trong nhng trng hp mang tnh cng nghip c
trng nh vn chuyn v xp d nguyn vt liu, lp rp, o lng.
Do c hai c trng trn nn robot cng nghip c th nh ngha nh
sau:
Theo Vin nghin cu robot ca M xut:
RBCN l tay my vn nng, hot ng theo chng trnh v c th
lp trnh li hon thnh v nng cao hiu qu hon thnh cc
nhim v khc nhau trong cng nghip, nh vn chuyn nguyn vt
liu, chi tit, dng c hoc cc thit b chuyn dng khc.
Hay theo nh ngha GHOST 25686 85 nh sau:
RBCN l tay my c t c nh hay di ng, bao gm thit b tha
hnh dng tay my c mt s bc t do hot ng v thit b iu
khin theo chng trnh, c th ti lp trnh hon thnh cc chc
nng vn ng v iu khin trong qu trnh sn xut.
Trong mn hc ny ch i su nghin cu v robot cng nghip trn
cc kha cnh phn tch la chn s dng, khai thc

1.2. Cc cu trc c bn ca robot cng nghip:

1.2.1. Cu trc chung:
Mt RBCN bao gm cc phn c bn sau:

Tay My: (Manipulator) l c cu c kh gm cc khu, khp. Chng

hnh thnh cnh tay(arm) to cc chuyn ng c bn, C tay
(Wrist) to nn s kho lo, linh hot v bn tay (Hand) hoc phn
cng tc (End Effector) trc tip hon thnh cc thao tc trn i
tng.

H thng cm bin: gm cc sensor v thit b chuyn i tn hiu

khc. Cc robot cn h thng sensor trong nhn bit trng thi ca
bn thn cc c cu ca robot v cc sensor ngoi nhn bit trng
thi ca mi trng.
C cu chp hnh: to chuyn ng cho cc khu ca tay my. Ngun
ng lc ca cc c cu chp hnh l ng c cc loi: in, thu lc,
kh nn hoc kt hp gia chng.

H thng iu khin: (controller) hin nay thng l h thng iu khin

s c my tnh gim st v iu khin hot ng ca robot

1.2.2. Kt cu tay my:

Tay my l phn c s quyt nh kh nng lm vic ca robot. l
phn c kh m bo cho robot kh nng chuyn ng trong khng
gian v kh nng lm vic nh nng, h vt, lp rp...Tay my hin
nay rt a dng v nhiu loi khc xa vi tay ngi. Tuy nhin, trong
k thut robot vn dng cc thut ng quen thuc ch cc b phn
ca tay my nh vai (shoulder), Cnh tay (Arm), c tay (Wrist), bn
tay (Hand) v cc khp (Articulations),...
Trong thit k quan tm n cc thng s c nh hng ln n kh
nng lm vic ca robot nh:
- Sc nng, cng vng, lc kp ca tay...
- Tm vi hay vng lm vic: Kch thc v hnh dng vng m phn
lm vic c th vi ti.
- S kho lo, l kh nng nh v v nh hng phn cng tc trong
vng lm vic.

Cc tay my c c im chung v kt cu l gm c cc khu,

c ni vi nhau bng cc khp hnh thnh mt chui ng hc h
tnh t thn n phn cng tc.
Cc khp c dng ph bin l khp trt v khp quay. tu
theo s lng v cch b tr cc khp m c th to ra cc tay my kiu
to Decac (Cartesian), to tr (Cylindrical), to cu (Revolute),
SCARA, POLAR, kiu tay ngi (Anthropomorphic).

 Tay my kiu ta cc, cn gi l kiu ch nht, dng ba khp

trt, cho php phn cng tc thc hin mt cch c lp cc chuyn
ng thng, song vi ba trc ta . Vng lm vic ca tay my c
dng hnh hp ch nht. Do s n gin v kt cu tay my kiu ny
c cng vng cao, chnh xc c m bo ng u trong ton
b vng lm vic, nhng t kho lo. V vy, tay my kiu cc
c dng vn chuyn v lp rp.
Tay my kiu ta tr khc vi tay my kiu cc khp u
tin: Dng khp quay thay cho khp trt. Vng lm vic ca n c
dng hnh tr rng. Khp trt nm ngang cho php tay my th
c vo khoang rng nm ngang. cng vng c hc ca tay my
tr tt, thch hp vi ti nng nhng chnh xc nh v gc trong
mt phng nm ngang gim khi tm vi tng.
Tay my kiu ta cu khc kiu tr do khp th hai (khp trt)
c thay bng khp quay. Nu qu o chuyn ng ca phn cng
tc c m t trong ta cu th mi bc t do tng ng vi mt
kh nng chuyn ng v vng lm vic ca n l khi cu rng.
cng vng ca loi tay my ny thp hn hai loi trn v chnh xc
nh v ph thuc vo tm vi .

 Tay my Scara c xut dng cho cng vic lp rp. l mt

kiu tay my c cu to c bit, gm hai khp quay v mt khp
trt, nhng c ba khp u c trc song song vi nhau. Kt cu ny
lm tay my cng vng hn theo phng thng ng nhng km
cng vng theo phng c chn l phng ngang. Loi ny chuyn
dng cho cng vic lp rp vi ti trng nh theo phng ng. T
Scara l vit tt ca selective compliance assembly robot arm m
t cc c im trn. Vng lm vic ca Scara l mt phn ca hnh
tr rng.
Tay my kiu phng sinh, c c ba khp u l khp quay, trong
trc th nht vung gc vi hai trc kia. Do s tng t vi tay
ngi, khp th hai c gi l khp vai, khp th ba gi l khp
khuu ni cng tay vi khuu tay. Vi kt cu ny khng c s tng
ng gia kh nng chuyn ng ca cc khu v s bc t do. Tay
my lmvic rt kho lo, nhng chnh xc nh v ph thuc v tr
ca phn cng tc trong vng lm vic. Vng lm vic ca tay my
kiu ny gn ging mt phn khi cu.

Ton b dng cc kt cu m t trn mi ch lin quan n kh

nng nh v ca phn cng tc mun nh hng n, cn b sung
phn c tay. Mun nh hng ty phn cng tc c tay phi c t
nht ba bc t do. Trong trng hp trc quay ca ba khp gp nhau
ti mt im ta gi l khp cu. u im chnh ca khp cu l
tch c thao tc nh v v nh hng ca phn cng tc, lm n
gin vic tnh ton. Cc kiu khp khc c th n gin hn v kt
cu c kh, nhng tnh ton ta kh hn do khng tch c hai
loi thao tc trn.
Phn cng tc l b phn trc tip tc ng ln i tng ty theo
yu cu lm vic ca robot phn cng tc c th l tay gp, cng c
(sng phun sn, m hn, dao ct, cha vn c)

1.3. Phn loi Robot:

1.3.1. Phn loi theo kt cu:
Ly hai hnh thc chuyn ng nguyn thy lm chun:
Chuyn ng thng theo cc hng X, Y, Z trong khng gian ba
chiu thng thng to nn nhng khi hnh c gc cnh, gi l
Prismatic (P).
Chuyn ng quay quanh cc trc X, Y, Z k hiu (R).
Vi ba bc t do, robot s hot ng trong trng cng tc ty thuc
t hp P v R v d:
PPP trng cng tc l hp ch nht hoc lp phng.
RPP trng cng tc l khi tr.
RRP trng cng tc l khi cu.
RRR trng cng tc l khi cu.

Bng thng k sau y trn 200 mu robot v phng din t hp

bc t do, theo ph bin l loi robot c trng cng tc l mt
khi tr vi t hp l mt khi tr PPR chim 72%. S bc t do trn
4 chim khng nhiu.

3T

4%

4%

2T

3%

3%

3%

1T

10%

0T

2%

Tnh tin/ Quay

0R

0R

2R

3R

1.3.2. Phn loi theo phng php iu khin:

C 2 kiu iu khin robot: iu khin h v iu
khin kn.
iu khin h, dng truyn ng bc ( ng c
in hoc ng c thy lc, kh nn,..) m qung
ng hoc gc dch chuyn t l vi s xung iu
khin. Kiu ny n gin, nhng t chnh xc
thp.
iu khin kn ( iu khin kiu servo ), s dng
tn hiu phn hi v tr tng chnh xc iu
khin. C 2 kiu iu khin servo: iu khin im im v iu khin theo ng ( contour).

 Vi kiu iu khin im - im, phn cng tc dch

chuyn t im ny n im kia theo ng thng vi tc
khng cao ( khng lm vic ). N ch lm vic ti cc
im dng. Kiu iu khin ny c dng trn cc robot
hn im, vn chuyn, tn inh, bn inh,
iu khin contour m bo cho phn cng tc dch
chuyn theo qu o bt k, vi tc c th iu khin
c. C th gp kiu iu khin ny trn cc robot hn h
quang, phun sn.

1.3.3. Phn loi theo ng dng :

Cch phn loi ny da vo ng dng ca robot. V d, c
robot cng nghip, robot dng trong nghin cu khoa hc,
robot dng trong k thut v tr, robot dng trong qun
s

Ngoi nhng kiu phn loi trn cn c : Phn loi theo

h thng nng lng, phn loi theo h thng truyn ng,
phn loi theo chnh xc

Chng 2: ng hc tay my. (15 tit)

2.1. V tr v hng ca vt rn trong khng gian:
2.1.1. H ta vt:
Mt vt rn trong khng gian hon ton xc nh nu v
tr v hng ca n c m t trong mt h quy chiu cho
trc. Trong hnh v di y h ta Oyxz vi cc vc t
n v l x, y, z c dng lm h quy chiu gc. m t
v tr v nh hng ca ca vt rn trong khng gian,
thng phi gn ln n mt h ta , gi l h quy chiu
a phng, chng hn h ta Oxyz gc cah ta
ny i din cho v tr ca vt trong h quy chiu gc Oxyz,
biu thc sau y ni ln quan h gia chng:

O ' o' x x o' y y o' z z

 Trong

l cc hnh chiu vung gc ca vc t O

ln h ta Oxyz. C th m t nh v ca im O qua vct
O(3.1) nh sau:
o' x , o' y , o' z

o' x
o' o' y
o' z

Hng ca vt c i din bi cc vc t n v x, y, z ca h
quy chiu Oxyz, v c m t bng quan h sau:

x' xx' x x 'y y xz' z

y ' y x' x y 'y y y z' z
z ' z x' x z 'y y z z' z

Cc thnh phn ca cc vc t n v (xx, xy, xz) l cosin ch

phng ca cc trc ca h ta a phng so vi h quy chiu
chung.

Hnh v di y m t v tr v hng ca vt
rn trong khng gian:

2.1.2. Ma trn quay:

cho gn, 3 vc t n v trn c th biu din di dng ma trn (3.3) gi l

ma trn quay nh sau:
R x'

x' x
y ' z ' x' y
x' z

y'x
y' y
y'z

z ' x x'T x

z ' y x'T y
z ' z x'T z

y 'T x
y 'T y
y 'T z

y
z 'T z

z 'T
z 'T

Php quay quanh mt trc ta l trng hp c bit ca php quay mt vt

quanh mt trc bt k trong khng gian, chiu quay c quy c l dng nu nhn
t ngn v gc ca trc thuc h quy chiu ang xt thy ngc chiu kim ng h.

 Gi s h Oxyz nhn c do quay h Oxyz quanh trc z mt gc

, vc t n v ca h ny c biu din trong h Oxyz nh sau:
cos
sin
0
x' sin ; y ' cos ; z ' 0
0
0
1

Ln lt ma trn quay quanh trc z, trc y, trc x ca h quy chiu O

so vi h O c dng:
cos sin 0
Rz ( ) sin cos 0
0
0
1

cos
R y ( ) 0
sin

0
1
0

sin
0
cos

0
1
Rx ( ) 0 cos
0 sin

sin
cos
0

T cc php quay cn bn quanh cc trc ca h quy chiu cho

php thnh lp ra cc ma trn quay mt i tng quanh mt trc bt
k.
Cn lu rng cc ma trn ny c tnh cht trc giao, ta c th xc
nh nghch o ca n theo hai cch, hoc thay gc bng gi tr i
du ca n vo ma trn quay, hoc chuyn v ma trn quay ang c.

2.1.3. Quay mt vc t:
C th m t php quay mt vc t bng cch s dng cc ma
trn quay nu trn, hy xem m t ca im P trong hai h quy chiu
trng gc nh sau:

Ln lt m t im P trong hai h ta ri tin hnh ng nht hai

ta nh sau:
px
p' x


p p y ; p ' p ' y
p
p'
z
z

V cng m t mt im nn c ng nht thc:

p p ' p ' x x' p ' y y ' p ' z z ' x'

y ' z ' p ' Rp '

p' R T p

Hay cng c th bin i c dng:

Nu vit di dng khai trin ma trn quay c dng y ca php
quay nh sau:
cos sin 0
p sin
0

cos
0

0 p '
1

Trong cc ct ca ma trn quay chnh l cc cosin ch phng

ca cc cp trc tng ng gia hai h quy chiu. V 3 trc ca mt
h quy chiu c quan h i mt vung gc nn 9 thnh phn ca ma
trn quay ch c ba thnh phn thc s c lp tuyn tnh.

 Tm li ma trn quay R c 3 ngha tng ng nhau:

Biu din hng gia hai h ta trong cc ct ca
ma trn quay l cosin ch phng gia cc trc ta
tng ng ca hai h mi v c.
Biu din s chuyn i ta ca mt vc t gia hai
h ta c gc trng nhau.
Biu din php quay ca mt vc t trong cng mt h
quy chiu.

2.2. Quay mt vc t quanh mt trc bt k:

2.2.1. Tng hp cc ma trn quay:
Trong qu trnh bin i ha hoc nhn din cc i
tng trong khng gian, cc php quay c th khng thc
hin i vi trc c s l trc c bn ca h quy chiu, m
quanh mt trc quay bt k. Khi thc hin c php
quay cn bit 2 im c bn sau y:
Vic quay quanh mt trc bt k c th tng ng vi
nhiu ln quay quanh cc trc c bn ca h quy chiu,
m mi php quay quanh cc trc c bn ca h quy
chiu cc trng bi ma trn Ai tng ng c dng
nu trn.
Vic biu din mt lot cc thao tc bin i quay c
thc hin bng cch nhn lin tip theo ng trt t cc
ma trn c trng cho tng bc.

Nu k hiu Pi l im P biu din trong h quy chiu i, cn l

biu th ma trn quay ca h i so vi h j. Hy xem chui
quan h sau:

P R2 P 2
1

P R1 P1
0

P R2 P 2
0

R2 R1 R2
0

2.2.2. Php quay quanh trc bt k:

y l mt trng hp thng xuyn gp khi m t ng
hc tay my, v cch thc thc hin phi nm c tng
nh sau:
1- Bin i trc quay so vi h quy chiu (hoc bin i h
quy chiu so vi trc quay) bng ma trn quay tiu chun
trnh by trn sao cho ng ng vai tr trc quay v
trng vi 1 trong 3 trc c bn ca h quy chiu, gi A1 l
ma trn c s dng bc ny.
y cn ch rng nu bin i trc quay gi nguyn
h quy chiu, ma trn A1 l ma trn tiu chun trnh by
trn, cn nu bin i h quy chiu so vi trc quay c
nh, phi s dng ma trn A1T l chuyn v (nghch o)
ca ma trn quay tiu chun.

Ma trn A1 ni trn trong trng hp tng qut lun l tch ca hai ma

trn quay tiu chun quanh 2 trong 3 trc c bn ca h quy chiu,
hy xem v d sau:
ng thng v trn hnh v ng vai tr trc quay, y khng biu
din i tng quay s ly n lm c s. V v khng trng vo trc c
bn no ca h quy chiu Oxyz ang xt nn n b coi l trc bt k.
Tuy nhin m t v phi bit trc nh hnh v. a c v v
trng vi 1 trong 3 trc c bn c th thc hin nh sau:

Gi A2 = Rot(z, - ) l ma trn quay v quanh trc z gc theo

chiu kim ng h khi nhn t ngn v gc trc z. Mc ch
ca bc ny l lm cho v v trng vi mt phng xoz.
Trong mt phng xoz, gi A3 = Rot(y, ) l ma
trn quay v
quanh trc y gc theo chiu kim ng h khi nhn t ngn
v gc trc y. Lc ny v trng vi trc Oz, php quay
quanh trc v trng vi Oz l php quay c bn ni
trn. Vy thao tc bin i v v trng vi Oz thc ra gm
hai bc nh sau:
A1 = A2A3
C th rt ra kt lun rng a v v trng vi trc Ox
hoc Oy cng ch gm hai thao tc tng t, v d liu gc
m t v nh trn l d a v v trng vi bt c trc no.

2- Khi trc quay bt k trng vi mt trong ba

trc c bn ca h quy chiu ni trn c th s dng
ma trn A4 l ma trn quay tiu chun thc hin
php quay quanh trc v (lc ny l trc c bn).
3- Tr kt qu v h quy chiu c bng cch thc
hin ngc li nhng g lm bc 1, ma trn
bin i ngc l chuyn v (hoc nghch o) ca
ma trn bin i thun.

Chng hn trong v d trn, tr kt qu v h quy

chiu c cn:
Quay v ngc kim ng h quanh trc Oy bng ma trn
A3T.
Quay v ngc kim ng h quanh trc Oz bng ma trn
A2T.
Vy ton b qu trnh m t mt php quay gc mt i
tng no quanh trc v bt k, l mt ma trn tng hp
nhiu bc bin i m trnh t thc hin c lin quan n
th t sp xp ca tng ma trn trong mt php nhn sau:
Rot( , v) A2 A3 .Rot( z, v).A A2
Hy nhn xt quy tc trn v xy dng cho nhng trng hp
khc cn li.
T
3

2.2.3. M t ti thiu ca hng:

2.2.3.1. Gc Euler:
Gc le hnh thnh m t hng ti thiu bng
cch t hp cc thnh phn c lp tuyn tnh ca
ma trn quay trong h ta hin thi (ba ln quay
quanh ba trc ca ba h quy chiu khc nhau). Ty
theo cch t hp c th 3 thnh phn c lp t 9
thnh phn ban u c th t c 12 b gc le
khc nhau.

(V d mt b gc le l zyz, ngha l quay quanh trc

z, quay quanh trc y, ri li quay quanh trc z, tc l trong
mt b gc le c th quay quanh mt trc ti a 2 ln,
song phi l 2 ln khng lin tip. Vy khi xut nu mt
trc quay c th c mt hai ln th ban u s c b 6 ln
quay, quanh 6 trc x, y, z, x, y, z.
C ba kh nng chn trc quay u tin hoc x, hoc y,
hoc z.
C hai kh nng chn trc quay th hai, chn 2 trong 3
trc trn tr trc chn bc trc, v hai trc quay
ging nhau khng c thc hin lin tc.
C hai kh nng chn trc quay ln ba v c th chn
lp li trc u tin v cn mt trc cha dng ln no.
Vy s kh nng ca php quay le l k = 3.2.2 = 12)

V d: Php quay le ZYZ = ( ,, )

Quay mt gc quanh trc Oz u tin c h O.
Quay mt gc quanh trc Oy va nhn c c h
O.
Quay mt gc quanh trc Oz va nhn c c h
O.
Phng trnh m t bin i hn hp ny l tch ca ba ma
trn quay lin tip ni trn, matlab s cho ra kt qu chnh
xc v vy khng trnh by y.
REUL = Rot(z, ).Rot(y, ).Rot(z, )
Nu cho trc ma trn kt qu ca php bin i le vi
trnh t cc php quay quanh cc trc cho trc, yu cu
tm gi tr gc quay y l bi tan ngc. Bi ton ny c
th gii d dng bng cch ng nht cc thnh phn tng
ng ca ma trn thun bit dng tng qut (ma trn cha
cc bin gc) v ma trn ngc cho trc (cha cc hng
s). Kho lo chn cc phng trnh sao cho vic gii l
n gin nht to 3 phng trnh cn bng vi ba n.

V d: Kt qu php nhn ma trn:

R EUL

c c c s s

Rot (z, ).Rot ( y , , ).Rot (z ,, , ) s c c c s

s c

c c s s c
s c s c c
s s

c s

s s
c

Cho trc ma trn sau khi nhn bng cc gc c th l:

a11
R
a 21

a31

a12
a 22
a32

a13
a 23

a33

Nhn thy ct cui cng ca hai ma trn c dng n gin nht, ta c

th to ra h phng trnh sau: c s a13

s s a 23

c a33

Chia v ca phng trnh th nht cho phng trnh th hai, tnh c

mt n.
Th n va tm c vo phng trnh th nht tnh c mt n na.
S dng tip mt biu thc khc c cha ta tnh nt c bin ny.

2.2.3.2. Gc Roll pitch Yaw:

Ngi ta thng v y l dao ng ca mt con tu.
Trn c s hiu th no l gc Euler, chng ta c th hiu ngn
gn l RPY chng qua l b gc EULER theo trnh t (zyx) = ( song
im khc bit cn bn l ba ln quay u thc hin quanh ba trc ca
cng mt h quy chiu ban u.
c c c s s s c c s c s s

RRPY R( z , ) R( y, ) R ( x, ) s c s s s c c s s c c s
s

c s
c c

Tng t nh trng hp gc EULER, bi ton ngc c gii

bng cch so snh ma trn kt qu ni trn vi ma trn nh hng
cho trc:
r11 r12 r13
R r21
r31

r22
r32

r23
r33

B thng s gc quay c th xc nh c bng cch ng nht cc

phn t tng ng to ra mt h ba phng trnh ba n.

 Nhn xt: Php quay le v php quay RPY khc nhau

ch:
Php quay le quay ba ln quanh ba trc ca ba h quy chiu
khc nhau, t th ca vt cn nh v vi h quy chiu quay
i 3 ln c xc nh bng ma trn le. Thc cht l vt th
t ti nh hng ca n bng cch quay h quy chiu cn bn
thn n ng c nh. (i tng quay i trong php quay ny
l h quy chiu)
Php quay RPY li nh v vt th bng cch gi h quy chiu c
nh trong khi xoay vt lin tip ba ln quanh ba trc ca h
quy chiu ban u. (i tng quay i trong php quay ny l
vt th)
- Php quay h quy chiu i lin tip (le) theo cc trc ca h
quy chiu a phng va sinh ra (trong iu kin vt th c nh)
cho kt qu ging nh php quay lin tip vt th (RPY) so vi h
quy chiu c nh song theo th t ngc li.

Chng minh:
Gi A l ma trn im biu din im mt vc t cn bin hnh trong
c hai h quy chiu.
Php quay vt so vi h quy chiu c nh lin tip:
RRPY R( z, ) R( y' , ) R( x" , ) (1)
Hay gi A1 l nh ca A qua nh x ta c:
A1 A.R( z, ) R( y ' , ) R( x" , ) (2)
Sau khi quay vt i ln th nht bi php thc hin bnh thng v
trc z lc ny l trc c bn. Ln quay th hai quanh trc y khng c
ma trn quay v y lc ny l trc bt k, ta phi lm trng n vi mt
trc ca h quy chiu ri s dng php quay c bn quanh trc y c,
sau tr kt qu li nh sau:
A.R( z, ) R 1 ( z, ) R( y, ) R( z, ) A.R(y, )R(z, ) (3)
Lc ny trc x li l trc bt k, c ma trn quay ta li phi lm
trng trc quay trc khi quay, sau khi quay bng ma trn quay tiu
chun tr kt qu li nh sau:
A.R(y, )R(z, )R -1(z, )R -1( y, ) R( x, ) R( y, ) R( z, ) A.R( x, ) R( y, ) R( z, ) (4)
Vy biu thc t c cui cng y chnh l mt trnh t ngc
li vi (2). Biu thc (2) biu thi php quay RPY cn (4) biu th le.

2.3. Php bin i thun nht:

Trong gio trnh CAD/CAM khi hc v bin i ha
ni r rng ma trn (3.3) khng ph hp cho vic th
hin php bin i tnh tin, mc d th hin php quay
ma trn quay ch cn c kch thc (3.3), cc php bin i
t l u, khng u, quay, tnh tin c th c biu th t
hp trong mt ma trn duy nht (4.4), nu trng s a44 = 1
khng th hin php t l. Php bin i nh ma trn thun
nht gi l php chuyn i thun nht.

 Quy c ma trn im vit sau ma trn bin hnh c cc ma

trn bin hnh nh sau:
c s
s
c
Rot( z, )
0
0

0
0

0 0
c
0
0 0
; Rot( y, )
s
1 0

0 1
0

1
0
Trans( M , N , P)
0

0 s 0
1
0
1 0 0
; Rot( x, )
0
0 c 0

0 0 1
0

0
0
0

0 0 M
1 0 N
0 1 P

0 0 1

Nh 4 ma trn ny c th biu th chuyn ng ca mt

vt bt k trong khng gian, song tnh trc giao ca ma trn
quay biu din di dng thun nht khng c m bo.

2.4. Bi ton ng hc thun ca tay my:

Nhim v ca bi ton thun l khi cho trc cc bin
khp phi xc nh v tr v nh hng ca tt c cc khu
trn cnh tay, thng thng nu khng khng ch qu o
ca cc khu trn cnh tay nhm trnh va chm vi cc i
tng khc trong vng lm vic, ngi ta thng ch xc
nh v tr v nh hng ca khu sau cng.
Trn cnh tay c cc khu v cc khp t hp vi nhau
m to thnh, cnh tay c hai hnh thc c bn, c th chui
ng hnh thnh nn n l kn, hoc h.
Cc khu v cc khp c m t qua cc thng s c
chia ra hai loi, cc thng s khng thay i (chiu di
khu) gi l tham s. Cc thng s thay i (gc quay ca
khu, lng di chuyn di ca khu tnh tin) gi l bin
khp.
Trong k thut robot s dng ph bin hai loi khp thp
l quay v tnh tin, khp cu c t hp t ba khp quay
c ng trc quay giao nhau ti mt im.

 Php chuyn i ta c biu din bng ma trn chuyn i thun

nht:
0
0
0
0

n
(
q
)
s
(
q
)
a
(
q
)
p
(q)
0
T (q)

0
0
0
1

Trong p 0 (q) l vc t nh v,n 0 (q), s 0 (q), a 0 (q) l cc vc t nh hng

di dng cosin ch phng ca phn lm vic. Chng hn vi ma
trn thun nht c th chn nh sau:

T 0 (q)

a12

a13

a 23

a14
a 24

a34

Cc phn t a12; a13; a23 l cc phn t nh hng, cc phn t a14;

a24; a34 l cc phn t inh v. Nh vy ch cn 6 phn t m t
nh v v nh hng.

 nh v v nh hng tng khu trn cnh tay cng nh khu

tc ng sau cng ngi ta phi gn cc h ta suy rng ln tng
khu, c c cu c mt h quy chiu chung ni vi gi c nh, h quy
chiu ny c chc nng va m t nh v, nh hng khu tc
ng sau cng ca tay my, va m t i tng tc ng ca tay
my m n cn nhn din. Vic xy dng cc h quy chiu ny cn c
tnh thng nht cao, i hi tnh xc nh duy nht. Sau y s xem
xt quy tc DH l mt quy tc in hnh.

Mt cch tng qut tay my coi l c n khu, trong khu th i

lin kt khp (i) vi khp (i+1) nh hnh v. Theo quy tc DH cc h
ta c xc nh theo quy c sau:
Trc ta zi trng vi trc quay ca khp (i + 1), gc trng vi
chn ca ng vung gc chung gia trc quay khp (i) v trc
quay khp (i+1), trc x ca n trng vi ng vung gc chung
v hng t trc (i-1) ti trc (i), trc y t xc nh theo quy tc
bn tay phi.
Trc ta zi-1 trng vi trc quay ca khp (i), trc x trng
phng ng vung gc chung gia trc (i-1) v khp (i), chiu
dng hng t trc (i-1) ti khp (i). Trc y t xc nh theo quy
tc bn tay phi.
Quy c cc gc v khong cch trn lc nh sau:
l khong cch gia hai khp theo phng ng vung gc chung.
di l khong cch gia giao im ca hai ng vung gc chung vi
trc quay, tnh theo phng ca ng vung gc chung.
l gc quay quanh trc xi zi-1 n trng vi zi.
l gc quay quanh trc zi-1 xi-1 n trng vi xi.

 Cng vic cn li l bin i sao cho h quy chiu Oi-1 trng vi h

quy chiu Oi. Trnh t bin i thc hin nh sau:

Tnh tin Oi-1 theo trc (Oi-1zi-1) mt lng di bng ma trn tnh
tin.

Quay h quy chiu Oi va nhn c mt gc quanh trc zi bng

ma trn quay.
Nhn hai ma trn ny vi nhau c ma trn bin i thun nht ca
bc ny nh sau:
s
0
0
c
i

Ai '

i 1

s
i
0

ci

di

Tnh tin h quy chiu Oi theo trc xi mt lng ai bng ma trn

tnh tin.

Quay h quy chiu nhn c bc trn quanh trc xi gc

hon thin.

 Nhn hai ma trn ny vi nhau c ma trn bin i thun

nht ca bc ny nh sau:
Ai

i'

1
0

ci

si

si

ci

ai
0
0

Ma trn bin hnh tng hp t c bng cch nhn hai

ma trn trn c dng:
ci
s
Aii 1 (qi ) Aii'1 Aii ' i
0

si ci

si si

ci ci

ci si

si

ci

ai ci
ai si
di

 C mt s trng hp c bit ca quy tc DH nh sau:

Cc h quy chiu c nh v da vo giao im ca
ng vung gc chung gia hai trc quay, vy trong
trng hp hai trc quay song song vi nhau c th ty
chn v tr gc h quy chiu. ng thi trong trng hp
vic quay quanh trc x l khng cn thit.
Trong trng hp hai trc quay giao nhau, lng tnh
tin theo phng trc x bng khng

 2.4.2. Mt s v d ng dng quy tc DH:

Tay my ba khu phng:

S ng hc ca tay my cho thy nh hnh v:

 Thay cc thng s tng ng vo cc ma trn mu tng qut ni

trn nhn c ma trn bin hnh cho tng bc nh sau:

ci s i
s c
i
Aii 1 (i ) i
0 0

0 0

0 a i ci
0 ai si
1 0

0 1

Khi nhn cc ma trn ny vi nhau c ma trn chuyn i tng

hp:
c123 s123 0 a1c1 a2 c12 a3c123
s

c
0
a
s

a
s

a
s
1 1
2 12
3 123
T30 (q) A10 A21 A32 123 123
0

0 1
0

0 0
1
0

y k hiu: c123 cos(1 2 3 )

Tay my ta cu:
S ng v bng thng s DH cho thy nh hnh
v:

 V z0 v z1 ct nhau nn d1 = 0. T bng thng s DH c cc ma

trn chuyn v thnh phn nh sau:
c1 0 s1
s 0 c
1
A10 (1 ) 1
0 1 0

0
0 0

c2
0
s

0 A1 ( ) 2
2
2
0
0

0
1

s2

0 c2
1

0
0
d2

1
0
A32 (d 3 )
0

0
1 0 0
0 1 d3

0 0 1
0 0

Nhn cc ma trn trn vi nhau c ma trn chuyn v tng hp:

c1c2 s1 c1s2 c1s2 d 3 s1d 2

s c c s s s s d c d
1 2
1
1 2
1 2 3
1 2
0
0 1 2

T3 (q) A1 A2 A3
s 2 0 c2
c2 d 3

0
0
1
0

2.4.3. Vng hot ng ca phn cng tc:

Tp hp cc im m tay my c kh nng nh v v
nh hng phn cng tc tha mn yu cu cng vic to
thnh mt hoc vi min lin tc, min c gi l min
cng tc, hay vng lm vic, Nhng im thuc vo vng
lm vic m tay my khng th t c nh v do cc
l do kt cu gi l l trng.

Vng lm vic ca tay my l mt thng s quan trng

ca n, th tch v hnh dng ca vng lm vic ph thuc
vo kt cu ca tay my v gii hn ca cc bin khp.

i khi ngi ta c phn bit vng vi ti v vng vi ti

c nh hng, biu din c vng lm vic, xc nh
phn vi ti c inh hng v vi ti khng nh hng cn
c cc k nng ton hc, v trn c s c im c th ca
tng loi tay my.

2.5. Bi ton ng hc ngc ca tay my:

Bi ton thun ng hc nhm xc nh nh v v
nh hng ca phn cng tc khi cho trc cc bin
khp. Bi ton ngc cho trc v tr v nh hng
ca khu tc ng sau cng i hi phi xc nh b
thng s ta suy rng m bo chuyn ng
cho trc ca phn cng tc.
i vi tay my c kt cu dng chui ng h,
nu cho trc b thng s bin khp th v tr v
nh hng ca phn cng tc xc nh duy nht,
iu ny khng ng vi cc tay my c cu trc
dng chui ng kn.

i vi cc tay my dng chui ng h, ng vi mt b thng s

m t nh v v nh hng ca phn cng tc khi gii bi ton ngc
c th xy ra cc trng hp:
C th c nhiu li gii khc nhau;
Cc phng trnh ng nht thc thng c dng phi tuyn, siu
vit, thng khng cho li gii ng;
C th gp nghim v nh v c cc lin kt tha ging kiu kt
cu siu tnh;
C th c li gii ton hc, song li gii ny khng chp nhn
c v mt vt l do cc yu t v kt cu ca cu trc khng p
ng c.

Nhn chung khi s bc t do cng ln th bi ton

ngc cng kh gii, s nghim ton hc li cng nhiu,
khi chn c nghim iu khin i hi phi loi
b cc nghim khng ph hp da trn c s cc rng
buc v gii hn hot ng ca cc khp. Vic la chn
phng php gii bi ton ngc cng l mt vn ,
cho n nay khng c phng php tng qut no c th
p dng cho tt c cc robot. Sau y gii thiu mt s v
d bi ton ngc tay my ca cc c cu gii bi ton
thun mc trc.

 2.5.1. C cu ba khu phng:

Da trn kt qu trin khai bi ton thun, ta c phng trnh ng hc

ca tay my ny di dng ma trn ng nht (4.4):

c123 s123
s
c123
123
0
0 1 2

T3 (q) A1 A2 A3
0
0

0
0

0 a1c1 a2 c12 a3c123

0 a1 s1 a2 s12 a3 s123

1
0

0
1

Ma trn nh v v nh hng phn tc ng sau cng trn cnh tay c cho trc
trong bi ton ngc di dng nh sau:

a11 a12
a
a22
21

A
a31 a32

a41 a42

a13
a23
a33
a43

a14
a24
a34

a44

Nhim v ca bi ton ngc phi xc nh mt b cng thc tnh 1 ;2 ;3 da

trn cc ng nht thc to ra t hai ma trn trn.

 V bin s nm trong gc nn nu gii trc tip h phng trnh m t

nh v v nh hng l khng th. Hy xem h thit lp c trn 2
iu kin ny:
sin(1 2 3 ) a12
0 a
13

0 a 23

a1 cos(1 ) a 2 cos(1 2 ) a3 cos(1 2 3 ) a14

a1 sin(1 ) a 2 sin(1 2 ) a3 sin(1 2 3 ) a24

0 a34

Ba phng trnh u ca h m t nh hng ca khu sau cng, ba

phng trnh sau m t nh v ca khu sau cng. V h suy bin nn
thc cht cn ba phng trnh, ba n:

sin(1 2 3 ) a12

a1 cos(1 ) a2 cos(1 2 ) a3 cos(1 2 3 ) a14

a sin( ) a sin( ) a sin( ) a
1
2
1
2
3
1
2
3
24
1

 Nu t 1 2 3 , m t nh hng ca khu sau cng, phi

cho trc gi tr ny.
Vy nu xem y l h hai phng trnh hai n vi 1 ,2 Matlab c
th gii ra kt qu, t tnh ra tuy nhin kt qu rt di khng c
tnh thc t.
Nu coi im W l tm ca khp quay th ba, hay l im ta cng
ngh. nh hng ca khu sau cng s t c trn c s xoay
hng khu sau cng phi l t im ny.

 im ta cng ngh W c th xc nh bng hnh hc nh sau:

p wx p x a3c a1c1 a2 c12

p wy p y a3 s a1 s1 a2 s12

Bnh phng hai v phng trnh ny ri cng li nhn c:

c2

2
2
pwx
pwy
a12 a22

2a1a2

C2 phi tha mn min gi tr ca hm cosin. Tnh c:

Thay c2 vo h phng trnh trn v gii ra c:

s1

(a1 a2 c2 ) pwy a2 s2 pwx

pwx2 pwy2

c1

(a1 a2 c2 ) pwx a2 s2 pwy

p p
2
wx

2
wy

s 2 1 c2

2 A tan 2( s2 , c2 )

Cui cng tnh c: 3 = - 1 - 2

Bi ton ngc kt thc phn xc nh nghim ton hc, cn tip tc cn c vo cc
yu cu c th chn nghim iu khin.

2.5.2. C cu cu:

Phng trnh ng hc c cu cu xc nh trong bi ton

thun, nu tng qut bi ton ngc i hi p ng c nh v v
nh hng ca im qun l, s phi gii h 6 phng trnh (ba nh
v, ba nh hng) xc nh cc bin khp .

Xut pht t phng trnh ng hc trong bi ton thun:

c1c2
s c
T30 (q ) A10 A21 A32 1 2
s2

s1 c1s2
c1

s1s2

c2

c1s2 d 3 s1d 2
s1s2 d 3 c1d 2

c2 d 3

Ma trn m t nh v, nh hng ca phn cng tc bit trc:

a11 a12 a13 a14
a

a
a
a
22
23
24
A 21
a31 a32 a33 a34

a
a
a
a
42
43
44
41

 H 6 phng trnh ba n nh sau:

a12 s1
a c s
1 2
13

a 23 s1 s 2

c1 s 2 d 3 s1d 2 a14
s1 s 2 d 3 c1d 2 a 24

c2 d 3 a34

Chng ta thy ba phng trnh u m t nh hng ca

phn lm vic v vy khng lin quan g n tm vi d3, m
ch yu lin quan n hai bc t do quay. Ngc li, ba
phng trnh sau m t nh v nn lin quan cht ch n
tm vi d3.
Nu khng i hi nh hng, ch xt h gm ba phng
trnh sau trong h

2.6. Bi ton vn tc:

Bi ton vn tc c th gii theo hai cch, da trn quan h hnh

hc hoc da trn quan h gii tch. y trnh by li gii theo quan
h gii tch (vi phn ng hc) c th k tha c cc kt qu ca
phn tnh ton ng hc ni trn.

Bit rng chuyn v l li gii ca bi ton ngc ng hc, cn

o hm bc nht ca chuyn v theo thi gian chnh l vn tc. Hy
xem quan h sau:
Vn tc chuyn ng tnh tin ca phn cng tc so vi h c s
c tnh bng cch ly o hm ca ta p(q) theo thi gian:

p
p' q' J p (q)q'
q

Tng t, vn tc quay ca phn cng tc c tnh bng o hm

ca (q )

'
q' J (q)q'
q

 Tng hp li ta c phng trnh biu din nh hng ca

cc vn tc khp n vn tc ca phn cng tc nh sau:

p' J p (q)
x'
q' J A (q)q'
' J (q)
Trong JA(q) gi l Jacobian gii tch.

Chng 3: ng lc hc tay my (7 tit)

ng lc hc tay my nghin cu mi quan h gia lc,

mmen, nng lng vi cc thng s chuyn ng ca
n. Nghin cu ng lc hc tay my nhm cc mc ch
sau:
M phng hot ng ca tay my, kho st, th
nghim qu trnh lm vic ca n m khng phi dng
tay my tht.
Phn tch tnh ton kt cu ca tay my.
Phn tch thit k h thng iu khin ca tay my.

 3.1. Phng php Lagrange:

3.1.1. C s ton hc:

Phng php Lagrange da trn mi quan h gia tng nng lng

ca h thng vi lc tng qut trong mt h ta tng qut.

Gi s xc nh mt tp hp cc bin i vi i = 1n, vi t cch

l cc thng s m t v tr cc khu ca mt tay my c n bc t do,
hm lagrange ca c h l hm s tng qut ca cc bin ni trn:
L=TU
.
Trong T v U tng
ng l ng nng v th nng ca h thng.

Cng thc Lagrange c vit nh sau:

d L L
vi i = 1n

i
dt 'i i
Trong i l lc tng qut lin kt vi cc ta tng qut i

 i vi cc tay my c cu trc dng chui ng h, chn

cc ta tng qut l vc t cc bin khp (khp quay l
gc quay, khp tnh tin l lng tnh tin):
1
q
n

Lc tng qut c th bao gm m men pht ng trn trc

ng c, mmen ma st ti cc trc, lc tng tc gia
phn cng tc vi i tng

V d 1:

M hnh ng hc ca trc dao ng tng trng cho mt

khu chuyn ng quay trn ca robot, c dn ng bi
mt ng c c lp nh hnh v:

Trn hnh v ng c in c c mmen qun tnh Im ,

ni vi hp gim tc c t s truyn kr , nh , trc c
truyn mt m men ch ng v c vn tc gc . Vt quay
c khi lng m, mmen qun tnh I v ta trng tm t
cch trc dn ng mt khong l. Chn thng s chnh m
t v tr ca trc quay l gc quay ca trc (xem hnh v).
C ngha l tnh ngc li qua t s truyn ca hp gim tc
trc ng c phi quay mt gc . Khi ng nng ca h
thng tnh theo cng thc:

1 2 1
2
T I ' I m k r '2
2
2

 Trong tha s th nht m t ng nng ca khu chp hnh, tha

s th hai m t ng nng ca ng c.

Th nng ca h thng ph thuc vo chiu cao th nng ca khu

chp hnh:

U mgl(1 cos )

Thay vo phng trnh Lagrange c:

1 2 1
2
L I' I m k r '2 mgl(1 cos)
2
2

Cng thc Lagrange m t quan h gia cc ta suy rng vi lc

suy rng, i hi phi tnh trc mt s i lng c mt nh:

L
2
I ' I m k r '
'
d L
2
I " I m k r "
dt '
L
mgl sin

 Thay cc kt qu trung gian vo cng thc Lagrange v gi

thit rng lc tng qut gm m men pht ng , v m
men ma stF 'c m hnh sau:

(I I m kr )"mgl sin F'

2

Hay di dng quan h vi lc pht ng ca ng c:

(I I m kr )"F'mgl sin
2

 Phng trnh ny c ngha nh sau:

quay trc chp hnh i mt gc cn tc dng ln trc
ng c mt lc ti thiu , lc ny dng to ra tt c cc
thnh phn c cng m v tri, trong :
Cc i lng gn vi " trong phng trnh m t hiu
ng ca lc qun tnh (o hm bc hai ca gc quay l
gia tc gc, gia tc gc gn vi lc qun tnh).
Cc i lng gn vi ' trong phng trnh m t hiu
ng tng h (o hm bc nht ca gc quay l vn
tc, vn tc ly tha mt gn vi lc ma st).
Cc i lng gn vi '2 trong phng trnh m t hiu
ng li tm (trong v d ny b qua hiu ng li tm nn
khng c mt tha s ny).
Cc i lng gn vi trong phng trnh m t hiu
ng trng lc (lc trng trng).

Hai khu ca robot c chiu di d1; d2 vi cc khi lng tng ng

1 ; 2
m1; m2. Cc khp quay hot ng vi bin
hy xc nh biu
thc tnh lc tng qut.
1
1
2
2
2
K

m
v

m
d

'
1
1 1
1 1 1

Vi khu 1:
2
2
P1 m1 gd1 cos1

Trong K k hiu ca ng nng, y ch xt ng nng ca khu

m khng k ng c, P l th nng ca khu
V tr ca khu 2 tnh theo biu thc sau:

x2 d1 sin 1 d 2 sin(1 2 )

y2 d1 cos1 d 2 cos(1 2 )
Chiu cao th nng ca khu 2 tnh bng tung im 2:
.
h d cos d cos( )
1

 Khu 2 chuyn ng theo phng trc x v trc y ng thi

nn vn tc tng hp bng ng cho hnh ch nht tnh
theo pitago nh sau:
d
d d
d
x2 d1 cos1 1 d 2 cos(1 2 )( 1 2 )
dt
dt
dt
dt
d1 cos11 ' d 2 cos(1 2 )(1 ' 2 ' )
x2 '

d
y2 '
y2 d1 sin 11 ' d 2 sin(1 2 )(1 ' 2 ' )
dt
v22 x'22 y '22 [d12 '12 d 22 ( '12 21 ' 2 ' '22 ) 2d1d 2 cos 2 ' ( '12 1 ' 2 ' )]

Vy:
1
1
m2 v22 m2 [d12 '12 d 22 ( '12 21 ' 2 ' '22 ) 2d1d 2 cos 2 ' ( '12 1 ' 2 ' )]
2
2
P2 m2 g d1 cos 1 d 2 cos(1 2 )
K2

3.1.2. Tnh ng nng:

S tnh ng nng chuyn ng

ng nng ca h thng gm hai phn l ng nng ca phn chp

hnh v ng nng ca c cu pht ng cng vi h thng truyn
ng:
n
T (Ti Tm )
i 1

ng nng chuyn ng Tli c th c tnh theo s trn:

Trong :

1
Tli p '*lT p i'*dV
2 li
pi'* l vector vn tc di (v2 = p* T.p* )
i

l khi lng ring ca phn t th tch dV

Vli l th tch ca khu th i:

p i'* p 'li i ri

S tnh ng nng khu dn

 Sau khi tnh cc thnh phn di du tch phn ca (1), ta nhn thy
ng nng Tli c 3 thnh phn: tnh tin, qua li v quay. Tng thnh
phn ch yu l tnh tin v quay, sau khi tnh cc tch phn tng
ng, bng:
1
1 'T ( li ) T T T li
'T ( li ) T ( li ) '
Tli m li q J P J P q q J o R i I li R i J o q' (2)

Ngoi cc k hiu dng t trc, cc k hiu trong phn ny c

quy c nh sau:
T - ng nng
U - Th nng
m - Khi lng
J Jacobian
I Tensor qun tnh tng ng vi khi tm
Ch s l tng ng vi khu (link); m vi ng c (motor).
ng nng ca motor cng c tnh tng t. Gi thit ng nng
ca stator c tnh vo khu mang n. Phn phi tnh l ng nng
ca cc phn chuyn ng, quy v rotor. Mt gi thit na l ng c
iu khin khp th i s c gn trn khu th i l*.

 Trong s tnh ng nng khu dn, ng nng ca motor c tnh

nh cng thc:

1
1 T
'T '
Tmi m mip mip mi miI mimi
2
2
Trong cc thng s ca rotor:
mmi: khi lng
Pm' i : vn tc di
Imi: Tensor qun tnh ca rotor i vi khi tm ca n
mi : vn tc gc
Ta nhn c cng thc tng t:

1
1 'T ( mi) T
'T ( mi) T ( mi) '
T
T mi
Tmi m li q J P J P q q J o R miI miR miJ o q' (4)
2
2
Cng ng nng ca tt c cc khu tng ng vi cc biu thc (2)
v (4) c cng thc tnh ng nng ca ton h thng:
n
1 n
1 'T
' '
T b ij (q )q i q j q B(q )q '
2 i 1 j1
2

3.1.3. Tnh th nng:

Th nng ca h thng cng bao gm th nng ca tng khu v

n
ca tng ng c:
U (U li U mi )
i 1

Trong k hiu li - ch link khu.

mi - ch motor - ng c (ngun chuyn ng).

Gi thit cc khu rn tuyt i v lc duy nht gy nn th nng l

trng lc, khi th nng ca cc khu c tnh bi cng thc:

U li g 0 pi dV mli g 0 pli
T

li

Trong g0 l vc t gia tc trng trng trong h c s, ngha l:

g0 = [0, 0, -g] nu trc z t thng ng.
Th nng ca ng c: U mi mmi g0T pmi
Cng tt c vi nhau, th nng ca h thng m t nh sau:
n

U (mli g 0 pli mmi g 0 pmi )

i 1

3.1.4. Tnh lc tng qut v phn tch ngha c hc ca m hnh

Lagrange:

Tr li vi v d 2, trong mc 3.1.1 v robot hai khu. ng nng

v th nng ca hai khu u xc nh c trong mc . tnh
lc tng qut c phng trnh Lagrange nh sau:
L ( K1 K 2 ) ( P1 P2 )

1
1
2
2
L (m1 m2 )d1 1 '2 m2 d 2 (1 '2 21 ' 2 ' 2 '2 ) (m1d1d 2 cos 2 (1 '2 1 ' 2 ' )
2
2
(m1 m2 ) gd1 cos1 m2 gd 2 cos(1 2 )

Khi tnh lc tng qut k hiu: q1 = 1; q2 = 2, vi khu 1 xy

dng cng thc Lagrange, di dng:
d L L

F1
dt 1 ' 1

 i tnh ton cc i lng c mt trong cng thc:

L
2
2
(m1 m2 )d1 1 ' m2 d 2 (1 ' 2 ' ) 2m2 d1d 2 cos 21 ' m2 d1d 2 cos 2 2 '
1 '

d L
2
2
(m1 m2 )d1 1 " m2 d 2 (1 " 2 " ) 2m2 d1d 2 sin 2 2 '1 '
dt 1 '
2m2 d1d 2 cos 21 "m2 d1d 2 sin 2 2 ' 2 m2 d1d 2 cos 2 2 "

L
(m1 m2 ) gd1 sin 1 m2 gd 2 sin(1 2 )
1
Thay vo phng trnh Lagrange tng qut v nhm cc tha s:

F1 (m1 m2 )d1 m2 d 2 2m1d1d 2 cos 2 1" m2 d 2 m2 d1d 2 cos 2 2 "

2

2m2 d1d 2 sin 2 2 '1 'm2 d1d 2 sin 2 2 '2 (m1 m2 ) gd1 sin 1 m2 gd 2 sin(1 2 )
quay khu 1 i mt gc 1 ng c phi to ra mt lc ti thiu l F1,
Lc ny c c tnh phi tuyn, l hp ca nhiu yu t nh qun tnh,
tng h, trng lc, li tm

Tng t xy dng cng thc lc tng qut cho khu 2:

2
2
F2 m2 d 2 m1d1d 2 cos 2 1" m2 d 2 2 "m2 d1d 2 sin 21 '2

2m2 d1d 2 sin 21 ' 2 '2m2 gd 2 sin(1 2 )

phn tch ngha cc thnh phn trong biu thc tnh lc tng
qut, biu din gn li nh sau:

F D1 i " D2 i ' 2 D3 i ' D4 i

Tha s gn vi i ": m t hiu ng qun tnh;
i ' 2 : M t hiu ng li tm;
i ' : M t hiu ng tng h ( ma st, chuyn ng
theo..);

i : M t hiu ng trng trng.

 3.2. Phng php NEWTON EULER:

Vi phng php Lagrange, m hnh ng lc hc ca tay my

xut pht t tng nng lng ca h thng. Phng php Newton
Euler xy dng m hnh da trn s cn bng ca h lc tc dng ln
h thng. (Nguyn l almbe cho h lc cn bng)
S ng hc dn n cng thc Newton Euler nh sau:
fi fi+l + migo = mip
Chuyn ng tnh tin ca trng tm c m t bng cng thc
Newton:

 Cng thc Euler c dng cho chuyn ng quay ca khu, trong

cc momen c tnh i vi ta tm v trng lc migo khng
gy nn momen, v n c t ngay ti trng tm:
d
i f i ril,Ci il f il ri ,Ci (I i i k r ,il q i' l I mil z mil )
dt

o hm thnh phn th nht ca v phi:

( I ii ) I ii' i ( I ii )
dt
o hm thnh phn th hai:

d '
(qi l I mil z mil ) qi"l I mil zmil qi'l I mil i zmil
dt

Thay vo cng thc Euler

i fi ril ,Ci il fil ri,Ci Iii' i (Iii ) kr ,il qi"l I mil zmil kr ,il qi'l I mili zmil

Lc tng qut c th tm c bng cch chiu lc fi ( i vi khp

trt ) hoc momen ( i vi khp quay ) ln trc khp, cng thm
momen qun tnh ca rotor:
T
'T

f i z i l k riI m im iz m i
i T
'T

i z i l k riI m im iz m i

3.2.2. Tnh gia tc ca khu:

Tnh gia tc di:

i vi khu (i), tnh c gia tc cn bit vn tc v gc ca

vn l cn bit vc t xc nh v tr ca trng tm khu (i).

Vi khp trt, k hiu pi-1; pi ln lt l vc t v tr ca khp (i

1) v khp (i), ri-1,i l khong cch gia hai trc ca chng, di l
khong dch chuyn theo khp (i) ta c:

p'i ( p'i 1 d i ' zi 1 i ri 1,i )

Trong cng thc ny, tha s th nht l vn tc ca khu mang

khu ang xt. Tha s th hai l vn tc tnh tin (do khp trt).
Tha s th ba l vn tc di (chuyn ng quay to ra).

 o hm hai v theo thi gian phng trnh ni trn c:

pi " pi 1 " d i " z i 1 d i 'i 1 z i 1 i ' ri 1,i i d i ' z i 1 i (i 1ri 1,i )
Thay ri 1,i ' d i ' z i 1 i 1ri 1,i vo phng trnh trn c:
pi " pi 1 " d i " zi 1 2d i ' i zi 1 i ' ri 1,i i (i ri 1,i )
Vi khp quay:
'
'

pi pil i ril,i
'

o hm vn tc p i theo thi gian, c:

pi" pi"l i' ri l ,i i (i ri l ,i )

Tng hp li, ta c cng thc tnh gia tc di ca khu th i:

"
"
'

d
z

2
d
i i l
i i ri l ,i i (i ri l ,i )
i l
"
pi "
'
p i l i ri l,i i (i ri l,i )

 Tnh gia tc gc:

i vi khp trt: V

i i l nn:

i' i'l

i vi khp quay,v i i l i' zi l nn:

i' ' i l i" zi l i'i l zi l

Tng hp li ta c cng thc tnh gia tc gc ca khu th i:

'

i l
'
i '
"
'

i l i z i l i i l z i l

Chng 4: C s iu khin robot (5 tit)

ng hc v ng lc hc tay my phc v vic phn tch kt cu

ca tay my, lm nn tng cho vic thit k phn c kh ca tay my. Mt
khc quan h gia lc tng qut, m men v chuyn ng li rt cn cho
vic thit k c cu dn ng, chn ngun chuyn ng, song v c bn
nhng cng vic trn mi ch cp n phn tay my.

Theo nh cc nh ngha a ra trong chng 1, tay my l thit b

c iu khin t ng theo chng trnh. N gm hai phn l i
tng iu khin v h thng iu khin. Nhim v ca h thng iu
khin l iu khin tay my thc hin cc nhim v t ra, ngha l phn
cng tc phi dch chuyn theo qu o nh trc v thc hin cc chc
nng cng tc. Ni dung chnh ca iu khin robot lin quan ti nhng
vn sau:
- Quan h gia qu o hot ng ca phn cng tc vi cc thng s ng
hc, ng lc hc ca tay my.
- Lut, phng php iu khin v cu trc ca h iu khin.
- Cc c cu ca h thng iu khin nh c cu pht ng, cm bin, b
iu khin, cng cc c cu chuyn i v truyn tn hiu gia chng.
- Lp trnh cho robot.
Cc vn trn lin quan n nhiu nghnh khoa hc khc nhau, trong
phm vi chng ny chng ta cp n cc vn thin v c kh trong
bi ton iu khin robot.

4.1. Thit k qu o:

Qu o l vn chung trong iu khin robot, v hon thnh nhim v c th ca

mnh th trc ht phn cng tc phi di chuyn theo ng qu o xc nh. Ni cch
khc, qu o l yu t c bn m t hot ng ca robot. Vic thit k qu o cung
cp d liu u vo cho h thng iu khin nn cng l c s trc tip cho vic iu
khin.
Tm phn bit hai thut ng ng dch chuyn hm ch tp hp cc im trong
khng gian m khu cn iu khin phi i qua trong qu trnh lm vic, n cha ng
cc yu t hnh hc thun ty, iu ny c nghin cu k khi hc v to hnh v m
t ban u ca cc dng ng cong khc nhau trong CAD/CAM hc phn I.
Thut ng qu o chuyn ng hay gi tt l qu o bao gm c yu t hnh hc ca
ng dch chuyn ln yu t thi gian thc hin chuyn ng nh vn tc, gia tc.
V vy bi ton thit k qu o lin quan n cc vn ng hc v ng lc hc.
Cc yu t u vo ca bi ton bao gm ng dch chuyn v cc iu kin rng
buc v ng hc v ng lc hc.
Cc yu t u ra l qu o ca phn cng tc. Ni chung, m t chnh xc ng
dch chuyn l rt kh khn. Ngi ta gim bt cc tham s bng cch quy nh cc im
bin ca vng hot ng, thm cc im trung gian m ng phi i qua, sau xp x
(ni suy) bng cc ng n gin. tng t nh vy, yu t thi gian ca qu o
khng th xc nh cho tng im m thng quy nh cho c on ng. Chng cng
thng c quy nh bng cc gi tr gii hn nh vn tc cho php, hay gia tc cho
php, hoc gn bng cc gi tr mc nh.
Bi ton thit k qu o c t ra trong c khng gian khp ln vng hot ng.
Cc rng buc v ng dch chuyn thun ty cc yu t hnh hc thng c m t
trong vng hot ng. Ngc li lc chuyn ng ca h thng thng xut pht t cc
khp, nn vic iu khin cc ng c dn ng i hi xc nh quy lut bin thin theo
thi gian ca cc bin khp, vic ny thc hin trong khng gian khp.

 4.1.1. Thit k qu o trong khng gian khp:

Chuyn ng ca tay my thng c m t trong vng

lm vic bng cc im nt (gm im u, im cui, v
c th c mt s im trung gian) v thi gian chuyn ng.
V vy, thit k qu o trong khng gian khp phi gii
bi ton ngc ng hc xc nh gi tr cc bin khp
ti cc im nt. Sau thit lp cc hm ni suy q(t) m
t qu o va nhn c.

Thut ton thit k qu o trong khng gian khp yu

cu:
Khng i hi tnh ton qu nhiu;
V tr, vn tc, c th c gia tc ca cc khp phi c biu din
bng cc hm lin tc;
Gim thiu cc hiu ng bt li, v d qu o khng trn.

Dng dn gin ca qu o l chuyn ng im - im,

nu thm cc im trung gian th qu o c dng chuyn
ng theo ng.

 4.1.1.1. Chuyn ng im - im:

Chuyn ng im- im s dng cho mt s loi robot nh robot

hn im, tn inh, xp d vt liu, trong dng chuyn ng ny,
ngi ta ch quan tm n cc ta im u, im cui ca ng
dch chuyn v thi gian chuyn ng gia cc im ch khng
quan tm n dng hnh hc ca ng dch chuyn. Nhim v t ra
l xc nh qu o chuyn ng tha mn cc yu cu chung v c
th thm c mt s tiu ch ti u no .

Gi I l mmen qun tnh ca mt vt rn quay quanh trc ca n,

cn xc nh quy lut thay i ca gc q, gia gi tr u qi (i: initial)
v gi tr cui qf trong khong thi gian tf. (f: finish). Lc pht ng
l m men t mt ng c. Tiu chun ti u t ra l nng lng
tiu th trn ng c l nh nht.
Do k hiu gc quay ca khu chp hnh l q, vy quan h ca gc
quay v vn tc gc th hin di dng o hm nh sau: q'
Song nu biu th gia tc qua vn tc quan h ny c dng nh sau:

I'

V ch xt trong khong thi gian ti n tf nn cn c iu kin:

tf

(t )dt q

qi

C k n tiu chun ti u:
tf

(t )dt min
0

Phng trnh vi phn cp 2, bc mt vi m men qun tnh v lc

suy rng ni trn c li gii tng qut l mt a thc bc hai i vi
thi gian t: (t ) at 2 bt c

Theo quan h o hm, chuyn v hay qu o chuyn ng c

dng mt a thc bc ba: q (t ) a3t 3 a2 t 2 a1t a0
Nghim ring ca vn tc c dng mt a thc bc hai vit li nh
sau: q ' (t ) 3a3t 2 2a 2 t a1

Gia tc thay i theo quy lut bc nht: q" (t ) 6a3t 2a2

 xc nh c 4 h s gi nh thng cn c 4 iu
kin u, thng l v tr u qi v v tr cui qf, vn tc u
qi vn tc cui qf. Thng chn vn tc u v vn tc
cui bng khng qi = qf = 0. Cc h s gii nh c xc
nh t h phng trnh:

a0 qi
a q'
i
1
a t 3 a t 2 a t a q
2 f
1 f
0
f
3f
3a t 2 2a t a q'
2 f
1
f
3f

V d 1: Cho trc quy lut chuyn ng mt bc t do ca

tay my nh sau:

Gc xut pht qi = 0, gc cui cng qf = ;

Thi gian chuyn ng ti = 0, thi gian cui tf = 1;
Vn tc du v vn tc cui bng khng: ti = tf = 0.
Thay cc thng s ny vo h phng trnh gi nh trn xc nh
c cc n s nh sau:
a0 = a1 = 0;
a2 = 3
a3 = -2
C dng y ca tt c cc ng cong gi nh, v li cc quan
h chuyn v, vn tc v gia tc ni trn theo kt qu va tm c v
tin hnh kho st s b cc c im ca chng c cc gii hn chnh
nh sau:

Vn tc c quy lut bc 2 vi gi tr cc i: qmax = 3 / 2 khi t =

1/2;

Gia tc bin thin theo quy lut bc nht vi:qmax = 6 khi t = 0

v t = 1;

Vtr(rad)
3

qf

qm

1
0

Thi gian (s)

0

0.2

0.4

0.6

0.8

qc
qi

t
0

tc

tm

tf - tc

tf

q'

Vn tc
(rad/s)
5
4
3
2
1
0

q' c

Thi gian (s)

0

0.2

0.4

0.6

0.8

tc

tf - tc

tf

tf - tc

tf

q"

Vn tc
(rad/s^2)

q" c

20
10

tc

-10
-20

Thi gian (s)

- q" c

 Mt dng qu o thng s dng trong cng nghip l dng a thc

hn hp, dng qu o ny chn quy lut vn tc hnh thang.

Qu o chia ra lm ba phn r rt, khi ng vi gia tc khng

i, chuyn ng tip vi vn tc khng i, v ch vi gia tc
khng i.

Qu o thc t l hai on parabol (mu en) ni vi nhau bng

mt on thng (mu )

Gi thit qi = qf = 0, gi thit thi gian tng tc v thi gian gim

tc bng nhau (q c gi tr bng nhau im u v im cui). Cc
iu kin trn dn n qu o i xng nhau qua im gia
qm = (qf qi)/2 ti tm = tf/2.

m bo qu o l hm lin tc, vn tc ti cc im tip gip

on parabol v on thng khng c nhy bc, ngha l trn th
chuyn v on thng phi tr thnh tip tuyn ca on parabol, hay
h s gc ca on thng phi bng h s gc ca on parabol ti
im tc. (h s gc ca ng thng
q m qc
tg
tm tc
phng trnh ca on chuyn ng nhanh dn u ng vi on
1
2
parabol l
q q q "t
c

 vy h s gc bng o hm bc nht ca chuyn v l qc ' qc "t c ).

Vy iu kin lin tc ti im tip gip c th hin nh sau:

q m qc
qc "t c
tm tc

Trong qc l gi tr bin khp q t ti ti thi im kt thc on

parabol tc di dng nhanh dn u, vi gia tc qc, v q(0) = 0 nn:
1
2
q c qi q c " t c
2
Kt hp vi rng buc lin tc ni trn c phng trnh:
2
qc "tc qc "t f tc q f qi 0

Nu cho trc qc "; t f ; qi ; q f y l phng trnh bc hai mt n

vi tc, gii phng trnh ny trong khong t t f nhn c nghim
c
nh sau:
2
2
1 t f qc "4(q f qi )
tc
2 2
qc "
tf

biu thc di du cn dng, cn phi c:

qc "

4 q f qi
tf

 Nu biu thc trn nhn du bng th khng c on nm ngang ca

vn tc, biu vn tc c dng tam gic.
Nh vy, vi cc gi tr cho trc ca qi; qf v tf t biu thc ny cho
php tnh c gia tc qc, sau tnh c tc, cui cng xc nh
c qu o t ba on:
1

2
q

q
"
t
i 2 c ;0 t t c

tc

q(t ) qi qc "t c (t );t c t t f t c

2

2
q

q
"
(
t

t
)
; t f tc t t f
f 2 c f

Ch rng quy lut vn tc hnh thang khng m bo ti u v nng

lng nh t c vi qu o l a thc bc ba, n tng khong
12,5% so vi gi tr ti u

4.1.1.2. Chuyn ng theo ng:

Trong nhiu hot ng, v d hn h quang, sn, xp d vt liu trong

khng gian c nhiu chng ngi vt, robot cn c iu khin theo ng.
Khi s lng im ca mi ng ln hn hai. c th khng ch l
im phi i qua n thun m ti c th phi khng ch c vn tc v
gia tc p ng yu cu cng ngh. Cc im nh vy gi l cc im
cht, s lng im ny nhiu hay t ty thuc yu cu chnh xc ca qu
o.

Bi ton t ra l xc nh qu o qua N im cht. Nh vy mi bin

khp phi tha mn N iu kin rng buc. thc hin iu , c th
ngh n qu o dng a thc bc (N1). Tuy nhin gii php ny c cc
nhc im:
Khng th khng ch c vn tc ti im u v im cui.
Bc a thc cng cao th kh nng dao ng cng ln, nh hng xu
n trng thi lm vic ca robot.
chnh xc tnh ton cc h s ca a thc gim khi bc ca a thc
tng.
H phng trnh rng buc phc tp v kh gii.
Cc h s ca a thc ph thuc tt c cc im, v vy khi cn sp xp
li mt im th cng phi tnh ton li ton b.
C th khc phc cc nhc im trn bng cch s dng mt qu o lai,
trong mt s on a thc bc cao c thay th bng cc on a thc
c bc thp hn. Cc a thc thay th gi l a thc ni suy.

 m bo tnh lin tc ca vn tc ti cc im cht, bc

ca a thc ni suy khng th nh hn bc ba, xt quy lut
bin thin theo thi gian ca mt bin khp q(t). ng
cong bin thin ca n gm N 1 on a thc ni suy bc
ba k (t ) vi k = 1..(N-1). Hm q(t) nhn gi tr qk ti im tk
(k = 1..N). Ti im u t1 = 0, gi tr q1 = qi (i : initial), ti
im cui tN = tf (f: finish) c qN = qf. Cc gi tr qk chnh l
i din cho cc im cht ca qu o
Qu o c thit k cn phi tha mn nhng iu kin
rng buc, nht nh c th xem xt cc trng hp sau:
Gi tr vn tc ti cc im q(t) ti cc im cht l xc
nh,
Gi tr q(t) ti cc im cht c tnh theo cc ch tiu
xc nh,
m bo tnh lin tc ca gia tc q(t) ti cc im cht.

Qu o vi cc im cht v cc a thc ni suy

 a thc ni suy vi gi tr cho trc ca vn tc ti cc im

cht:

C hai iu kin chnh cn phi m bo:

Cc a thc ni suy phi i qua cc im cht (iu kin vi hm
chuyn v).
Vn tc ti cc im cht phi bng gi tr nh trc (iu kin
vi o hm bc nht ca chuyn v).

Nu trn qu o c N im cht th s a thc bc ba ni suy k

hiu k (t ) ni cc im qk v qk+1 l (N 1). Trong mi a thc
phi tha mn cc rng buc sau: k (t k ) qk
(t ) q
k k 1
k 1

'k (t k ) q'k
'k (t k 1 ) q'k 1
Mi a thc ni suy bc ba c 4 h s gi nh.Chng c xc nh
bng cch gii cc h phng trnh c dng nh trn, cn phi gii (N
1) h xc nh (N 1) b h s gii nh, thng gi tr vn tc ti
im u v ti im cui c ly bng 0. iu kin lin tc ca vn
tc ti cc im cht c m bo bi iu kin: 'k (t k 1 ) 'k 1 (t k 1 )

 a thc ni suy vi gia tr vn tc tnh ton ti cc im cht:

Trong trng hp ny gi tr ca vn tc ti cc im cht c tnh

ton t nhng iu kin nht nh. Bng cch ni cc im cht bng
cc on thng, vn tc ti cc im cht c tnh theo quy tc sau:

q k q k 1
vk
t k t k 1

Trong
l h s gc, tng trng cho dc ca on thng trong khong
thi gian (tk tk-1).

Xem hnh v b) minh ha trng hp ni trn

vi s liu sau:

q1 0; q 2 2 ; q3

t1 0; t 2 2; t 3
q1 ' 0; q 4 ' 0

; q4
2
3; t 4 5;

Ta thy vn tc tin ti gi tr 0 ti cc im cht.

 a thc ni suy vi gia tc lin tc ti cc im cht:

C hai trng hp ni trn u khng m bo c tnh lin tc

ca gia tc ti cc im cht. Mun m bo tnh lin tc ca c
chuyn v, vn tc v gia tc th a thc ni suy gia hai im cht
lin nhau phi tha mn cc iu kin rng buc:
k 1 (t k ) q k
(t ) (t )
k 1 k
k k

' k 1 (t k ) ' k (t k )
"k 1 (t k ) "k (t k )
Trong v ngha cc rng buc din t cc im chnh nh sau:
Rng buc th nht ch iu kin i qua;
Rng buc th hai ch iu kin i qua cng mt im;
Rng buc th ba ch h s gc tip tuyn bng nhau ti im
chuyn tip trn biu chuyn v (hoc vn tc chuyn tip bng
nhau trn biu vn tc);
Rng buc th ba ch bn knh cong tc thi ti im chuyn tip
bng nhau trn biu chuyn v (hoc gia tc bng nhau ti im
chuyn tip trn biu gia tc).

Xem hnh v c) minh ha trng hp ni trn vi s

liu sau:
q1 0; q3 2 ; q4

; q6 ;

2
t1 0; t3 2; t 4 3; t 6 5;
q1 ' 0; q6 ' 0

 Ni suy ng bc nht bng cc on parabol:

Mt trong nhng dng n gin nht ca qu o tay my gm cc

on thng, ni vi nhau bng cc on parabol ti cc im cht.

Gi s trn qu o c N im cht, ng vi thi im tk, ti

bin khp t gi tr qk vi k = 1N. Qu o nguyn thy gm cc
on thng ni vi nhau ti cc im cht. m bo tnh lin tc
ti cc im cht, ng chuyn ng c ni bng cc on
parabol.

Vn tc v giaq' tc ti cc im cht c tnh nh sau:

qk qk 1
q ' k 1,k
t k 1
k , k 1

q ' k ,k 1 q ' k 1,k

q"k
t ' k
Trong , vn tc; bng qung ng di chuyn chia cho thi gian, gia
tc bng s gia vn tc chia cho s gia thi gian (o hm ca vn tc
theo thi gian). Cc i lng sau y i hi bit trc.
t k ,k 1 t k 1 t k l vn tc khng i ng vi khong thi gian
q ' k ,k 1

l khong thi gian gia hai v tr qk v qk+1;

q"k l gia tc tng ng vi on ni parabol v khong thi gian

4.1.2. Qu o trong khng gian cng tc:

Qu o trong khng gian khp m t din tin theo thi gian ca

cc bin khp q(t), sao cho phn cng tc di chuyn thng t im u
n im cui ca qu o hoc i qua cc im trung gian. Thc t
khi thit k qu o trong khng gian khp kh c th m bo
chuyn ng chnh xc ca phn cng tc do nh hng phi tuyn ca
vic chuyn i cc quan h ng hc t khng gian khp sang khng
gian cng tc. Mun cho phn cng tc di chuyn theo ng l trnh
nh trong khng gian cng tc cn thit k qu o trc tip trong
chnh khng gian ny. Qu o c th xc lp bng cch ni suy
ng dch chuyn qua cc im cht hoc xc lp bng gii tch hm
chuyn ng.

Nhim v ca vic xy dng qu o trong khng gian cng tc l

quy lut bin thin ca bin khp trong khng gian thc phi c
chuyn i v quy lut bin thin ca bin khp trong khng gian
khp iu khin ng c lm vic. Qu o ca robot trong khng
gian cng tc xy dng thng qua vic gii bi ton ngc ng hc.
y chnh l chun u vo ca h iu khin, ngi ta dng php vi
ni suy ng thng tng tn s cp nht chun u vo ci thin
c tnh ng lc hc ca h thng.

 4.1.2.1. Cc nguyn t ca ng dch chuyn:

Mt ng dch chuyn trong khng gian c th tham s ha theo

mt s bin chn trc. Gi s p l mt vc t (3.1) v f( ) l mt
hm vc t lin tc trong khong i ; f , xt phng trnh:

p f ( )
Khi thay i trong khong i ; f th tp hp cc gi tr tng ng
ca p hnh thnh mt ng trong khng gian, phng trnh ni trn
chnh l phng trnh tham s ca ng cong biu din qu o
chuyn ng trong khng gian cng tc, trong i lng l tham
s v hng. Khi tng im p di chuyn trn qu o theo mt
hng nht nh.

Gi s gi im pi c nh lm gc, gi s l di cung tnh t pi

ti p. Mi im p trn qu o ng vi mt ta s, v vy s c th
dng nh mt tham s ca ng dch chuyn:
P = f(s)

Xt mt ng G biu din theo tham s (s) nh hnh v:

z
O

(G)

Pf

t
p

Pi

n
b

Hy tng tng rng ng (G) c mt ct ngang vung gc vi

ng tm ca n ti p l mt mt phng, php tuyn ca mt phng
ti p l tip tuyn t, chiu ca t l chiu tng ca tham s s i t
pinitial n pfinish, mt phng mt tip (O) l mt cha t v ln cn ca
(G) pha php tuyn t.

 Phng ca vc t php tuyn chnh n l giao tuyn ca

mt phng nhn t l php tuyn, vi mt phng mt tip,
chiu ca n sao cho t, ln cn ca (G) pha sau t, v n cng
pha.

Vc t b, trc th ba ca h quy chiu xc nh theo quy

tc bn tay phi.

Theo nh ngha v ta s ca im p trn ng (G), ta

c cc quan h sau:

dp
t
ds

1
d2p

n
2
2
ds
d
p

ds 2

b t.n

Sau y l hai phn t hnh hc in hnh thng s dng trong xy

dng qu o.
on thng trong khng gian cng tc:

Xt on thng ni hai im pi v pf. N c biu din di dng

tham s bi phng trnh sau:

s
p( s) pi
( p f pi )
p f pi

(dng tng qut ca phng trnh tham s ng thng x = x0 + a.t

y pi ng vai tr mt im u ca ng thng, s l tham s nh
p f pi l cosin ch phng ca ng thng, hay quen gi
t,
p f pi
tt l vc t ch phng).

Ch rng: p(s = 0) = pi v p(s =) = pf.

 on thng trong khng gian cng tc:

Xt on thng ni hai im pi v pf. N c biu din di dng

tham s bi phng trnh sau:
(dng tng qut ca phng trnh tham s ng thng x = x0 + a.t
y pi ng vai tr mt im u ca ng thng, s l tham s nh
t, p f pi l cosin ch phng ca ng thng, hay quen gi tt l
p f pi

vc t ch phng).
Ch rng: p(s = 0) = pi v p(s =) = pf.

V vy hng ca ng thng l i t pi n pf.

H s gc ca ng thng xc nh bi: dp p f pi
ds

p f pi

Bn knh cong ca ng thng xc nh bi: d 2 p

0
2
ds

iu c ngha l tn ti v s mt phng mt tip, vy khng th

xc nh h ta (t, n, b) mt cch duy nht.

 ng trn trong khng gian cng tc:

Gi s c ng trn trong khng gian nh hnh v:

Trong vc t n v r nm theo trc ng trn;

Vc t v tr d m t mt im nm trn trc ca ng trn;
Vc t pi m t v tr ca mt im nm trn ng trn.

 K hiu pi d , nu pi khng nm trn trc, ngha l ng trn

khng suy bin thnh mt im th iu kin sau y phi c tha
mn: T r T r cos( ; r )
Khi c th xc nh tm ca ng trn thng qua vc t sau:

c d ( T r )r

Cn biu din ng trn di dng ta ca s. cho hm ny

n gin, cn chn mt h ta thch hp Oxyz. Trong O
trng vi tm ng trn; trc x hng theo chiu vc t (pi c), trc
z hng theo r, cn y c xc nh theo quy tc bn tay phi. ta
ca p trong h ny tng t nh xc nh phng trnh tham s
ng trn trong ta cc:
s

cos( )

p ' ( s ) sin( )

Trong pi c l bn knh ng trn v im pi l gc ta

. Khi thay i h quy chiu phng trnh biu din ng trn tr
p( s) c Rp' (s)
thnh:

Trong R l ma trn quay ca h ta O so vi h ta O.

Biu thc ca vn tc v gia tc di dng hm s ca ta s nh

sau:
s

sin(
)

dp
s

R c os( )
ds
p

s
1

c
os(
)

2
d p
s
1

sin(
)
2

ds

4.1.2.2. V tr v hng trn qu o:

Qu o trong khng gian cng tc m t bng hai yu t l nh v

v nh hng, c th m t c hai yu t ti mi mt v tr thng qua
p
vc t:
x

V tr ca phn cng tc:

Gi p = f(s)(3.1) l vc t biu din ng dch chuyn (G) di

dng hm ca ta (s). Gc ta ca phn cng tc di chuyn t
im pi n im pf trong khong thi gian tf, . n gin t gc
ta ti im pi hng ca (G) i t pi n pf. Ta ca im p bt
k trn (G) chnh l di cung (s) tnh t pinitial n p. Ta ny l
mt hm biu din theo thi gian t, hay cn c th vit c s = s(t).
V p = f(s) nn tnh c vn tc di chuyn trn ng (G) bng cch
tnh o hm bc nht ca p theo (s):
dp
p' s' s' t
ds
Trong t l vc t tip tuyn ca ng cong ti p. Nh vy, s biu
din ln ca vc t vn tc ti p. Gi tr ca ca p bin thin t 0
(thi im u t = 0) bin thin theo quy lut hnh thang, ty theo chng
ta s dng php ni suy bc ba hay bc nht v tr li bng khng khi t =
tf .

 i vi cc qu o thng s dng l ng thng v

ng trn th cch tnh vn tc v gia tc c th nh sau:
Nu qu o c dng ng thng:

s
p( s) pi
( p f pi )
p f pi

Ln lt ly o hm bc nht v bc hai:

s'
p'
( p f pi ) s ' t
p f pi
s"
p"
( p f pi ) s"t
p f pi

 Nu ng dch chuyn l ng trn biu din bi phng trnh

ni mc trc, ln lt ly o hm theo thi gian, ch rng s =
s(t) ta c:
s

s ' sin( )

p ' R s ' cos( )

p

s 1
s

2
( s ' cos( )) s"sin( )

p" R
s 1
s

2
( s ' sin( )) s" cos( )

Ch rng vn tc c hng tip tuyn vi qu o ti im ang xt.

Cn gia tc c hai thnh phn l tip tuyn v hng tm.

Hng ca phn cng tc:

Hng ca phn cng tc nh nghin cu trong chng 2, c

m t thng qua nh v v nh hng ma trn quay ca h quy chiu
a phng gn vi khu chp hnh so vi h quy chiu c s gn vi
gi.

Hng ca phn cng tc c th m t thng qua cc ma trn quay,

trong ch rng ba ct ca ma trn quay c 3.3 = 9 thnh phn ca
cosin ch phng, chng khng c lp tuyn tnh nn xc nh 9
thnh phn ny l khng cn thit. Vic m t nh hng y da
trn cc php m t hng ti thiu (MRO) nh php quay RPY hoc
EULER.

nh hng ca phn cng tc c m t ti v tr u v v tr

cui ca qu o, ti cc im trung gian c tin hnh ni suy bnh
thng nh ni suy cc thng s nh v. Hm ni suy cng l cc
hm bc ba hoc hm bc nht nh thc hin i vi v tr. Nh
ch ra cc phn trc vn tc gc c quan h tuyn tnh vi o
hm bc nht thng s m t gc quay , l mt hm lin tc theo thi
gian. C ngha l nu gi initial ; finish l gc m t hng ti thiu
ti im u v im cui ca qu o theo th t , cng thc ni
suy s thay i nh hng ca khu, vn tc thay i, gia tc thay
i t im u cho trc, n im cui cho trc nh hng nh
sau:

s
i
( f i )
f i

'

s'
( f i )
f i

s"
"
( f i )
f i
Mt phng php na m t s thay i lin tc ca cc thng s
trong b thng s nh hng ti thiu, l vn dng ma trn bin i
quay quanh mt trc bt k. tng ca phng php l nu cho
trc nh hng ban u trong ma trn Ri, v cho trc nh hng
khi kt thc lm vic l Rf, ta tng tng khu chp hnh bin i v
tr lin tc t Ri n Rf th tn ti mt ma trn chuyn tng qut RT c
gi tr thay i ti tng im trn qu o, sao cho h thc sau lun
T
c tha mn:

R f R Ri

Vic xc nh ma trn RT thc hin bng cc thut ton ngc ng

hc.

4.2. iu khin chuyn ng:

4.2.1. iu khin qu o trong gian khp:
y bi ton ng hc ngc c gii trc chun
cc thng s t khng gian cng tc sang khng gian khp.
Xem lc sau:

Mch iu khin nhn gi tr t ca cc bin khp (c

th qua h s chuyn i no ) v iu khin khp theo
st din tin thi gian ca bin khp. Mch iu khin ny
n gin song chnh xc b hn ch do i tng b gim
st trc tip l phn cng tc li nm ngoi mch iu
khin.

4.2.2. iu khin trong khng gian cng tc:

Nhn trc tip thng s ca khng gian khp lm s liu
u vo, bi ton ngc c gii trong mch phn hi. S
ny c hai nhc im c bn l h iu khin phc tp
hn. Th hai h thng o thng gn ln cc cc khp,
gim st trc tip cc thng s ca khp. Mun chuyn
chng sang khng gian cng tc th phi thc hin cc php
tnh ng hc thun, cng l nguyn nhn pht sinh sai
s.

Chng 5: Thit k v la chn robot (7 tit)

5.1. Cc thng s k thut ca robot cng nghip:
5.1.1. Sc nng ca tay my:

l khi lng (kg) m robot c th nng c (khng

k t trng bn thn ca cc khu thuc cnh tay) trong
nhng iu kin nht nh, v d khi tc dch chuyn cao
nht hoc khi tm vi ln nht. Nu robot c nhiu tay th
l tng sc nng ca cc tay phi hp vi nhau, thng s
ny quan trng vi cc thng s vn chuyn lp rpCc
robot c sc nng ln thng dng h truyn ng in
hoc thy lc, khuynh hng s dng ng c in ngy
cng tng, truyn ng kh nn thng ch p dng vi cc
tay my i hi sc nng di 40(kg). i vi mt s kiu
robot ngi ta cn quan tm n lc hoc m men ln nht
m cnh tay hoc bn tay c th to ra.

5.1.2. S bc t do ca phn cng tc:

l tng s cc ta m phn cng tc c th dch chuyn
so vi thn robot. S bc t do cng ln th hot ng ca robot
cng linh hot nhng iu khin n cng phc tp, thng k thc
t cho thy phn ln robot c 4 5 bc t do.
V phn kp khng c tnh vo bc t do, trn thc t bc
t do c to ra bi hai phn chnh l cnh tay v c tay.
Cng thc tng qut tnh s bc t do ca mt cu trc l:
DOF = 6n i.ki
Trong n l s khu chuyn ng c ca cu trc, i l s
khp loi i.
ph hp v dn ng cc khp khng gian (khp cu,
khp tr..) c to thnh bng cch phi hp cc khp loi 5,
nh vy vi chui ng h s khu bng s khp v bng bc t
do. Nhn nh ny ch ng khi cc iu kin nu trn tha mn,
ch khi vn dng.

5.1.3. Vng cng tc:

Vng cng tc hay vng lm vic din t khng gian

quanh robot, l tp hp nhng im m bn kp hay
dng c trong bn kp c th tha mn ng thi c nh v
v nh hng ti im bt k thuc vng . i khi ngi
ta cng hiu l ch cn t c nh v. Khi ni n vng
lm vic ngi ta ni n hai yu t, l hnh dng ca n v
cc kch thc c trng m t vng . Kch thc ca
vng lm vic khng ch ph thuc vo kch thc cc khu
m c th t chuyn ng ca cc khu.

Mt thng s khc lin quan n vng lm vic l tm

vi ca cnh tay, tm vi tng mc mt n nh cng gia
tng, ng thi chnh xc gim.

Vng lm vic l mt min lin tc song trong li

cha nhng im m khu tc ng sau cng khng th
vn ti do cc gii hn v kt cu, thut ng chuyn mn
gi cc im ny l l trng.

5.1.4. chnh xc nh v:

chnh xc nh v th hin kh nng i tng t

c chnh xc ti im ch. l mt thng s quan
trng, nh hng n s thao tc chnh xc ca phn cng
tc v kh nng bm qu o ca n. i vi thit b iu
khin s, chnh xc nh v lin quan n hai vn ,
phn gii iu khin v chnh xc lp li.
5.1.5. Tc dch chuyn:

Xt v yu t nng sut ngi ta mong mun tc dch

chuyn ni chung cng cao cng tt. Tuy nhin v mt c
hc, tc cao s dn n nhng vn nh gim tnh n
nh, lc qun tnh ln, cc c cu ma st mn nhanh hn.

Xt v mt iu khin vi phn gii sn c ca b

iu khin, khi tng tc dch chuyn c th lm gim
chnh xc nh v. V vy vn chn tc dch chuyn
hp l cng t ra khi thit k v la chn robot.

 5.1.6. c tnh ca b iu khin:

Robot l sn phm c in t nn ngoi khu khp cn c b no ca robot l cc

thit b iu khin.
Kiu iu khin: c hai kiu iu khin hay dng nht cho RBCN l iu khin im
- im v iu khin contuor. iu khin im - im thng dng cho cc robot
hn im, tn inh, vn chuyn. iu khin contuor dng cho cc robot hn ng,
phun sn, to mu
Dung lng b nh: B nh trn robot hin i chia lm hai phn:

B nh h thng lu tr cc phn mm h thng, phn mm cng dng chung

nh h iu hnh, d liu my, cc m un chng trnh tnh ton ng hc, ng
lc hc.

B nh chng trnh dng l tr cc chng trnh ng dng do ngi dng to

ra. Thng b nh chng trnh l RAM, dung lng ca n l mt thng s ng
quan tm.
Giao din vi cc thit b ngoi vi: Cc thit b ngoi vi l cc thit b m robot phi
phc v hay phi hp lm vic. Chng hn my cng c, phng tin vn chuyn
nh bng ti, mng ti, thit b o lng, hoc cc thit b hin th, in n nhp d
liuHu ht cc robot phc v trong dy chuyn c kh nng ghp ni trong h
CIM thng qua giao din truyn thng chun. iu ny c th gip m rng kh
nng cng ngh vn c ca robot ra ngoi c tnh chun ca n, thng qua vic xy
dng d liu bng ngn ng chun ca nh sn xut sau kt ni vo t bn ngoi.
Cc tin ch: Tin ch ca robot bao gm lp trnh c tr gip ha, h thng dy hc, m phng gia cng. Nhng tin ch ny lm cho robot thn thin hn vi ngi
s dng.

5.2. Thit k v t hp robot:

Thit k robot gm hai mng cng vic chnh, thit k cu trc c

kh v thit k phn iu khin. Thit k cu trc c kh cng tun th
cc nguyn tc chung ca thit k my. Nhn chung cc bc t do dn
ng c lp, s dng cc ngun dn ng tiu chun. Nhng iu
ny l iu kin thun li xy dng cc mun c kh chun. Cc
m un quay thn, m un c tay, m un nng h cnh taytrn c
s cc robot c chc nng v hnh dng vng lm vic c to ra
bng cch ghp cc m un c chc nng v cng sut tng ng vi
nhau.
Xut pht t yu cu cng ngh: Robot c tnh vn nng song mi
robot c thit k v ch to trc tip thc hin, hoc phc v cho
mt qu trnh sn xut c th. V vy cc thng s k thut ca robot
phi p ng c cc yu cu cng ngh ca qu trnh sn xut c
th . Mi mt qu trnh cng ngh c c im ring, cn nghin
cu k trc khi bt tay vo thit k.
m bo s ng b vi h thng: Robot phi lm vic trong h
thng cng ngh cng vi cc i tng khc, nn chng phi lm
vic theo ng nhp c th phi hp theo ng . V vy
trng thi ca robot cng nh cc i tng khc phi c gim st
thng xuyn, thc cht y l ni dung nm trong thit k phn iu
khin.

 Chn kt cu in hnh: Tng t nh thit k my, qu trnh thit k

robot cng c tnh k tha, cn c trn mu cc thit k c, cc kt
cu in hnh, lm vic n nh m khng cn ci tin sa i g
hn na s c gi li. S pht trin cao ca k thut ny l to ra
cc m un tiu chun. Khi cn c mt robot mi, s t hp cc m
un c chc nng v cng sut ph hp vi nhau p ng tc
xy dng thit b.
m bo s ha hp gia robot v mi trng: robot bn lu,
hiu qu an ton v tin cy th cn phi lm cho gia cc i tng
ny c s hi ha. Hoc ci to mi trng nh lc bi, iu ha
khng kh v m, thng gi, hoc bo v robot lm kn, cch li, lm
mt cc b cho robot khi cc tc ng bt li ca mi trng. Cc
thit b in t cng nghip ngy nay c thit k chuyn dng nn
c thch nghi rt cao vi mi trng.
S ha hp gia robot vi ngi dng: p ng tiu ch d s dng,
thm m cng nghip.
Thit k c nh hng sn xut: Ni v tnh cng ngh trong ch to,
hay c th l tnh cng ngh trong kt cu.

5.2.2. Cc bc cn thc hin khi thit k:

Robot l mt my t ng kh trnh, l sn phm in hnh ca c in t. V
nguyn tc thit k ging nh thit k my v c bn.
1. Phn tch qu trnh cng ngh xc nh khu no cn phi s dng robot,
ch cc cng on c iu kin lao ng khc nghit, cc cng on lp i lp
li n iu. S b nh gi hiu qu s dng robot vo khu .
2. Nghin cu cc thng s kt cu ca i tng d nh s x l bng robot,
nh hnh dng, khi lng, trng thi vt l, s phn b khi lng ca vt th.
3. Nghin cu iu kin mi trng s dng robot nh nhit , bu, rung ng,
kh nng gy chy n.
4. Xc nh cc thng s k thut chnh ca robot theo yu cu cng ngh, t
tnh ton cc ch tiu kinh t k thut, la chn cc ch tiu kinh t, k thut ph
hp.
5. Phn chia kt cu thnh cc cm c cu chnh. Xc nh cm no c kh nng
trng vi cc m un c sn, cm no c th s dng cc thit k tng t, cm
no phi thit k ch to mi hon ton. Phn chia nhim v cho cc cm chuyn
nghnh ph hp.
6. T hp h thng, th nghim trn m hnh. Trong giai on ny nn s dng
cc k thut m phng, m hnh ha trn my tnh gim chi ph v thi gian
th nghim.
7. Ch th, th nghim robot trong phng thit k v trong sn xut.
8. nh gi kt cu v tnh nng k thut, cng ngh ch to v tnh kinh t. T
xut cc bin php hon thin kt cu v cng ngh ch to.

5.2.3. Thit k theo phng php t hp mun:

Mc ch ca phng php t hp m un, l lm gim thi gian chun b

sn xut khi c yu cu thay i thit b cng ngh. Da trn nguyn tc tiu
chun ha kt cu cc cm c cng dng chung, c ngun dn ng c lp, c
mt lp ghp tiu chun. Trong tng kiu mun li c nhiu gam ng vi cng
sut khc nhau ng dng cho cc mc tiu khc nhau. V c bn c th ch
to thm cc chi tit ph khc nn c th hon thin thit b vi tnh nng nng
mi trong thi gian ngn nht.

Thit k theo phng php t hp m un c cc u im chnh nh sau:

Gim thi gian thit k v ch to, v s dng cc bn thit k c sn hoc
cc cm ch to c sn trn th trng. Nhim v ca ngi thit k mi ch
l t hp cc cm c chn theo yu cu thc t v ch to b xung cc chi
tit ph.
Tha mn cc iu kin lm vic tiu chun vi kt cu n gin, s dng
c cc gii php kt cu ti u, t phm phi cc kt cu v chc nng
tha. Khi thay i yu cu cng ngh.
Nng cao cht lng v tin cy ca thit b, v cc cm tiu chun c
ch to vi cht lng cao, c th nghim ti cc c s chuyn mn ha
c kinh nghim, c u t y cc thit b gia cng v th nghim
chuyn dng.
Gimgi thnh thit b v cc cm c sn xut vi tnh lot cao.
V cc m un c tiu chun ha cao nn nhiu robot s cng s dng
chung mt s m un no y, iu ny to s thun li khi bo tr bo
dng, sa cha, thay th v sau.

 Nhc im c bn ca phng php t hp m un l kh tha mn

cc yu cu c bit. C mt s trng hp lm cho thit b cng knh,
nng n, tnh nng k thut khng hp l. mt khc phi tn km rt
nhiu cho s thng nht ha tiu chun ha kt cu.

S tiu chun ha kt cu nhm gim s lng chng loi sn phm

nn lun lun mu thun vi yu cu a dng v yu cu s dng
chng. Mt khc s pht trin khng ngng trong k thut vt liu,
trnh thit k, cng ngh ch to lun lun c xu hng ph v tiu
chun xy dng. La chn ch tiu tiu chun ha v thng nht
ha l iu kh kh khn, i vi robot ngi ta da trn cc ch tiu
sau:
- Theo tnh nng: Robot trong cc gam khc nhau c th khc nhau
v sc nng khi cng kt cu, c th khc nhau v tc dch chuyn,
c th khc nhau v chnh xc nh vtng t ngi ta cng
phn chia robot theo kiu iu khin, v d iu khin im - im,
iu khin contuor.
- Theo chc nng: Thng nht ha v tiu chun ha cc cm c
chc nng c bn nh cm to ra chuyn ng thng, to ra chuyn
ng quay, cm bn kp, cm c chc nng o lng
- Theo cng ngh: Thng nht ha v tiu chun ha theo iu kin
s dng, v d robot phun sn, robot hn, robot lp rp

 5.3. Mt s kt cu in hnh ca robot:

minh ha cc quan im trn trong mc ny s gii thiu mt s

kt cu in hnh ca cc tay my cng nghip, do cc nc tin tin
trn th gii thit k v ch to. Cc kt cu ny c th k tha trong
cc thit k v sau nu thy khng c vn g cn ci tin sa i.
5.3.1. Robot c nh trn nn dng h ta cc v ta tr:

c trng ca phn to ra ta tr l kt cu
dn hng theo phng thng ng, phn cnh
tay c tm vi thay i trong mt phm vi hp va
c kh nng thay i cao ca mt phng lm
vic, nu khng k cc bc t do khc vng lm vic
to ra bi kt cu ny ch l mt hnh ch nht
hng tm trong mt phng thng ng. Mt tr
c to ra ton b hoc mt phn ty theo kt cu
c kh c th nh chuyn ng quay ton b phn
dn hng thng ng.

 5.3.2. Rbot c nh trn nn dng h ta cu:

Khp cu c to thnh t ba khp quay c ng tm giao nhau,

in hnh cho kt cu ny l c tay robot kiu cu:

C cu c ba bc t do vi truyn ng vi sai kh khe h b truyn,

mi mt chuyn ng chp hnh l h qu ca vic tng hp chuyn
ng t hai ngun cng quy lut truyn ti c tc dng to ra chuyn
ng vn ngc nhau hai khu ng trc. Ba chuyn ng c bn
khu nn (1, 2, 3, B). Tm ca khp cu l giao im ca 8 bnh rng
cn nh lc . kt cu ny lm vic cn c phn ng mch
mang cc c cu vi sai na.

Phng php to ra ta cu th hai, l kt hp hai chuyn ng

quay trng tm v mt chuyn ng tnh tin hng knh qua tm quay
.

5.3.3. Robot treo:

Robot treo c lp v chuyn ng trn cc ng ray trn khng,

u im ca chng l khng chim din tch sn xut, t cn tr hot
ng ca cc thit b khc v c vng lm vic rng. Cc robot treo c
th vn chuyn nguyn vt liu, thit b trong tng phn xng hoc
gia cc phn xng. Chng c th phc v nhiu thit b khc nhau
trong dy chuyn, c th s dng chng vo vic lp rp, phun sn
hoc hnCc robot treo c th phn ra hai loi, chuyn ng theo
mt phng (kiu palng), hoc chuyn ng theo hai phng (kiu
cu trc).

5.3.4. Robot c iu khin thch nghi:

Robot thch nghi l robot c kh nng t phn ng c li

trc nhng din bin bt li ca mi trng m ngi lp
trnh khng lng trc c, h iu khin ca robot treo
thng c xy dng trn c s iu khin m. S phn
ng ca robot da vo cc thng s o c ca mi
trng, v d v tr, tnh cht vt l ca i tng, hoc da
vo trng thi cc c cu trong robot. Trong trng hp ny
chng trnh iu khin ch nh hng s b cc hot ng
ca robot, chnh n s phi tm hiu v chnh xc ha cc
hot ng ca mnh trn c s phn tch cc thng tin thu
nhn c t mi trng. Nh kh nng thch nghi m
robot kiu ny c th lm c nhng vic m robot thng
thng khng lm c, chng hn tm kim, lp rp, thay
i lc kp ph hp Phn ln cc robot thng thng u
c th tr thnh robot thch nghi nu trang b cc sensor
thu nhn cc thng tin v mi trng, chng trnh phn
tch thng tin thu c v ra quyt nh vi thng tin thu
c.

Cc robot sau y c th cm nm c nhng vt khc

nhau v hnh dng v kch thc l do cm bin lc gn vi
ngn tay iu khin.

 5.4. C cu tay kp:

Phn cng tc ca robot rt a dng, trn cc robot chuyn dng th

phn cng tc cng l thit b chuyn dng. V d m hn, m ct,
sng phun sn, cha vn vt, bn kp.
Trn cc loi robot vn nng thng l robot lp rp, vn chuyn, xp
d th phn cng tc c chc nng nm gi v thc hin cc thao tc
khc nhau vi i tng (xoay, nhc, lt, th..), nu khng cp n
s khc bit v kt cu m cn c vo chc nng chnh ca chng, ta
gi chung l tay kp. Cc hnh nh sau minh ha cc kt cu t n
gin n phc tp ca b phn ny.

 minh ha y v chi tit hn ton b kt cu v dn ng ca mt

robot, xem bn lp tng th th hin di dng 3D mt robot 5 bc t
do c bn kp truyn ng c kh nh sau:

Di y l bn lp ca phn cnh tay v truyn ng ca n:

Kt cu lp ng c vi phn quay thn robot:

Kt cu lp ca cc ng c, cc b truyn v phn c s ca robot:

5.4.1. Khi nim v phn loi tay kp:

Tay kp ca robot l phn tng ng vi bn tay trn

cnh tay ngi, c chc nng thao tc trc tip vi i
tng cng ngh, c th l tc ng ln i tng thay
i v tr, nh hng ca i tng t nhng mc ch
cng ngh xc nh.

Tay kp c phn loi theo nhiu c trng khc nhau

nh theo cng dng, theo phng php gi vt, theo tnh
vn nng. Chng ta quan tmn cc c trng lin quan
trc tip n kt cu nh sau:
Theo nguyn l tc ng c tay kp c kh, chn khng, t trng,
tnh in
Theo kh nng iu khin, c tay kp khng iu khin, iu khin
cng, iu khin thch nghi.
Theo ngun nng lng c cc loi tay kp c dn ng v khng
c dn ng.

 5.4.2. Kt cu ca tay kp:

5.4.2.1. Tay kp c kh:

l loi tay kp gi, di chuyn i tng bng cc m kp,

mc, cng, tm (xem cc minh ha phn trn).

Tay kp khng c iu khin dng cc loi m, nhp, chu kp

vt nh tc dng ca l xo hoc nh lc n hi ca chnh cc chi tit
trong h thng. Kt cu ca cc loi kp ny rt n gin, chng
khng c ngun dn ng ring, khng c c cu hm nn lc kp
dao ng theo kch thc ca i tng. V vy chng thuc loi tay
kp chuyn dng, c thit k cho tng loi i tng c th, vi
phm vi thay i kch thc hp. Do cc c im nu trn, chng
c dng ch yu trong sn xut hng khi. Xem minh ha c cu
ny nh sau:

 m bo lm vic tin cy v n nh ngay c khi c bin ng

kch thc ca i tng, tay kp c b xung c cu hm, v d
nh c c minh ha di y. Nh c c cu hm m tay kp lm
vic vi hnh trnh kp v nh rnh mch hn d vn khng c ngun
dn ng ring. Cc tay kp dng vi vt trn xoay nh hnh v ( ),
lc kp c to ra di tc dng ca trng lc, tm nm 4 tc ng
ln ui ca cc m kp 1. Khi t vt xung, nm 4 tin gn n vt,
hai m kp c gii phng, vt c nh ra di tc dng ca lc
ko t l xo 13. Ch ti c cu hm, n gm thn 7 gn lin vi cn
5. Cht hm 10 gn trn cn 12 nhng c th quay t do trn .
Trong l ca thn 7 c lng 2 bc khng quay c 8 v 9. Bc 8 c
cc vu pha di, bc 9 c c vu trn v di. Cc vu ny khi n
khp v trt tng i vi cc vu trn cht 10 s lm quay cht
450. Trong hnh trnh nh, thn 7 tin gn n u 3, cht 10 tip xc
vi bc 8, quay 450, khi i xung tip xc vi mt trn ca bc 9 li
quay tip 450 v b mc trong l. Hai m kp b gi trng thi nh.
Trong hnh trnh kp, sau khi cht 2 tip xc vi vt, u 3 v thn 7
tin gn n nhau. Cht 10 tip xc vi bc 8, b quay 450. Khi i
xung cht 10 li tip xc vi bc 9, b quay tip 450 na. Kt qu l
cht lt qua c rnh v lt ra khi l. Cc m 1 c kha trng
thi kp.

7
8
9

6
5
4
3

10
11
12
13

2
1

kp cc chi tit c dng bnh rng, bc, a t th thng ng

thng s dng loi tay kp c nguyn l hot ng tng t vi kt
cu nh sau:

 Hai loi tay kp trn c dng trong sn xut lot ln hng khi,
nhc cc vt trn xoay khi lng khng qu 30(kg), kch thc
khng c dao ng qu 0,5 (mm). Chng c coi l tay kp c
phm vi cng tc cng.
Loi tay kp c phm vi cng tc hp cho php sai s ca mt c
kp ti 1,5 2 (mm), trong kt cu minh ha di y, n kp vo
mt tr trong ca l bnh rng nh vo dy bi 2, xp theo vng trn.
Mt cn 1 c gc ma st nh hn gc ma st gia cc vin bi v vt
liu chi tit (thng t 50 60), to ra chuyn ng khi nhc vt
(chuyn ng ln) v nh vt (chuyn ng xung).

3
2

 tng tin cy khi kp v nh, c lc kp ln, phm vi cng

tc ln, ngi ta dng tay kp c dn ng. Ngun ng lc l ng
c thy lc hoc kh nn. Di y l hnh minh ha c cu tay kp
c truyn ng thy lc, s dng hai cng kp. M kp c th thay th
c v vy c th kp vo mt trong hoc mt ngoi ca i tng.

iu chnh khong cch gia hai m kp trong phm vi khng ln

lm, c th s dng kt cu cng kp quay quanh tm nh vt iu chnh
nh s di y:

Sau y l cc c cu tay kp vi truyn ng kh nn. Cc tay kp

c m kp thay i c dng vi cc b mt khc nhau v hnh
dng v kch thc.

C cu hnh bnh hnh c s dng duy tr song song hai

m kp, khi kch thc vt kp thay i trong mt phm vi ln.

Thay cho dng c cu tay n, cng kp, trn nhiu tay kp

ngi ta dng c cu thanh rng, trong cc ui m kp c dng
qut rng. u im ca c cu ny l gn, lm vic tin cy. Cc s
trn hnh v cng biu din cc dng m kp t nh tm. Chng c
th lm vic hai v tr, v d v tr kp phi v v tr a phi vo
mm cp my tin:

5.4.2.2. Tay kp chn khng v in t:

Kt cu ca hai kiu tay kp ny c th hin nh hnh v di

y. Cc kiu tay kp ny dng lc ht chn khng (hoc lc t)
nhc v di chuyn i tng. Trong mt vi trng hp, ngi ta cn
dng c lc ht tnh in. u im chnh ca lai tay kp ny l c
kt cu n gin, c th dng vi cc loi b mt hay cc loi vt liu
m tay kp c kh kh p ng, v d chi tit phng, mng nhng rng
nh tm tn, hoc giy mng, hnh dng chi tit phc tp, v tr ca
chi tit thay i ngu nhin. Tuy c nhiu im ging nhau song c
cu kp in t v kp kh nn c nhng c im khc nhau v s
dng thng k trong bng sau:

5.4.2.3. Tay kp dng bung n hi:

Bung n hi thng c lm bng cao su, cht do. Lc kp

sinh ra do s bin dng ca bung n hi di tc dng ca kh nn
hoc th lc. Hnh v di y minh ha cho kt cu v nguyn l lm
vic ca tay kp kiu ny. Cc chi tit c th c nh v v kp cht
mt tr trong hoc mt tr ngoi nh bung n hi hnh tr, cng c
th nh v bng khi V v kp cht bng vng m n hi.
1

5
4

D
D
D

4
D
D
D

3
B

5.4.2.4. Tay kp thch nghi:

Trn cc tay kp kiu ny ngi ta lp t cc sensor thu nhn
thng tin v s tn ti, v tr, hnh dng, kch thc khi lng, trng thi
b mt, mu sc ca i tng robot t ng tm cch x l thch
hp. Chng hn nhn hay khng nhn, thay i ni chuyn n, thay i
v tr v lc kp. Trn hnh v minh ha tay kp kiu Anthropomorphic
(tay ngi) c 4 ngn kp, cc i ni vi bn tay bng cht, cc ngn
c th co dui nh tay ngi.

Trn cc ngn tay, lp mu ti l cm bin c gn vo ngn tay l

im trc tip tip xc vi i tng thao tc ca robot. Cc cm bin c
dy truyn tn hiu v cm iu khin trung tm x l. Robot t ch c
c bp, pht trin n ch c thn kinh nh con ngi gi l robot phng
sinh.

5.4.3. Phng php tnh ton tay kp:

5.4.3.1. Tnh ton tay kp c kh:
- Tnh lc tip xc:
Lc tc dng ti im tip xc gia m kp v i tng
c xc nh vi hai mc ch: lc kp ng thi
khng lm hng b mt c kp. Trong phn ny s dng
cc k hiu sau:
Q - ti trng tnh tan;
C - Khong cch t im t im t ti n m kp ang
xt;
L Kch thc tay kp;
Rn - Phn lc trn m kp th n;
- Gc gia trc phi v lc Rn;
Ni - Lc tip xc gia m kp v vt;
i - Gc gia hnh chiu ca lc Rn ln mt phng v lc
Ni;
- Gc ma st gia vt liu m kp v vt liu vt kp.

Cc tnh ton da trn cc nguyn tc nu trn, kt qu cho mt s

dng tay kp in hnh th hin nh sau:
L

R2

R2
R1

R2

R1
Hnh b

Hnh a

Trng hp a, chu lc i xng:

c
l c
R2 Q
R1
Q
l
l
Trng hp b, chu lc khng i xng:
l c
R1
Q
l

c
R2 Q
l

R1

 c im: i tng c bi c cu kp nn lc ma st nh
hng rt t n lc kp.
Vi khi V thng ng to lc p t hai bn, va nh tm, va kp
cht nh hnh v:
N2

N1
1

Rn

N3

Lin h ton hc gia cc i lng c mt trong m hnh:

(1 2 ) sin( j k )
cos
sin (sin j sin k (cos j cos k ))
N1 Rn

(1 2 )[sin(1 2 ) sin( 2 3 ) sin(3 1 )]

Trong i, j, k = 1, 2, 3
Vi i, j, k khng trng nhau.

 c im: i tng c bi c cu hm nn lc ma st nh
hng nht nh n lc kp

Vi khi V nm ngang va nh v va kp cht, trng lc theo

phng thng ng:

N1

N2

N3
Rn
Trong trng hp ny

sin( j k )
Rn
0 ; Ni

sin(1 2 ) sin(2 3 ) sin(3 1 )

0

Trong i, j, k = 1, 2, 3
Vi i, j, k khng trng nhau.

 c im: i tng c gi bi lc ma st, nh hng ca lc ma

st n lc kp rt ln.

Trong trng hp s dng c hai khi V nh hnh v:

N1

N1

N2

N2

Rn

Rn

Cng thc xc nh cc phn lc:

N i Rn

sin j cos j
sin(1 2 ) 2 cos(1 2 )

Vi i, j khng trng nhau.

Trong i, j, k = 1, 2

 c im: i tng c bi c cu kp nn lc ma st nh
hng rt t n lc kp.
Khi vt kp c nh v bng khi V, gi bng c cu hm:

N1

N2

Rn

Cng thc xc nh phn lc:

1 900 ;
2 ;
sin cos
N1 Rn
;
cos 2 sin
1
N 2 Rn
;
cos 2 sin

 c im: i tng c bi c cu hm nn lc ma st nh
hng nht nh n lc kp
Khi vt kp c gi bng hai tm phng da vo ma st:

N2

N1

Rn

Cng thc xc nh lc kp:

1 2 0;
Rn
N1 N 2
2

Mj

Fi

Ni

ai

c im: i tng c gi bi lc ma st, nh hng ca lc ma

st n lc kp rt ln.
Tnh lc dn ng:

Lc dn ng do c cu dn ng sinh ra, t ln u vo ca tay

kp. Yu cu lc kp ln gi vt trong t th lm vic, thng qua
cc quan h c bn ca c cu, cc c cu thng dng nh nm, n,
thanh rng c tnh lc kp nh sau:
p
Vi c cu nm:

 Trng hp chung (dng nm mt bn) lc kp ti thiu tnh nh sau:

m

M
j 1

tg ( )

b p

Trng hp hai nm i xng,lc kp nhn i:

2M j tg ( )
b p

Trong cc cng thc trn:

m: S cng kp dn ng bng chm;
p 0,9
4 80 l gc nm;
0
1 10 ' khi dng trt, khi dng ln;

Trng hp dng n kp:

n kp c th c mt trong hai kt cu in hnh sau:
p
p

Mj
ai

ai

Mj
Ni

Fi

Fi
Trng hp chung, c m n kp tc ng ln
i tng ng thi:
m

Ni

M
j 1

cos

b p

Trng hp c hai n kp, kt cu i xng: P

vi 0,9 0,95

2M j cos
b p

Trng hp dng c cu thanh rng:

p

Mj
Zc; mc

Mj

a1

Zc; mc

Ni

Fi

Ni

Fi

Trng hp c hai c cu ging

nhau, b tr i xng:
m
2 M j
j 1
P
mc z c p
Trng hp chung c m n kp dn ng bng qut rng thanh
rng:
4M j
0,94
P
mc zc p

 Cc k hiu dng trong mc ny:

m: S lng m kp;
Ni: Lc tip xc gia m kp v vt (N), tra bng k tip;
Mj: M men kp (N.m) ca m kp th j tnh theo cng
k
thc:
M j N i cos i [ai tg i ci (ai ci tg i )]

i 1
k: S im tip xc;
: Gc ma st quy i c tnh n lc cn trn cc
cht ca n;
: Gc nm;
p : Hiu sut ca c cu;
: Gc nghing ca n;
mc ; zc : M un v s rng ca qut rng;

 Tnh ng sut tip xc:

Tnh ng sut tip xc l khng ch ng sut tip xc

ln nht, nh hn gi tr ph hng chi tit ti im tip xc.
Trong mt s trng hp, nht l khi kp nh lc ma st th
ng sut tip xc kh ln. iu c th dn n ph hng
chi tit hoc m kp, nht l cc chi tit gia cng tinh.
Cng thc tnh ng sut xy dng trn c s dng tip xc,
din tch tip xc gia chi tit v m kp.
L

r
d

L
L

H-1

H-2

H-3

H-4a

H-4b

 hnh 1, chi tit v m kp tip xc ng, ng sut pht sinh tnh

theo cng thc:

NEq 2 l
0.418
( )
l d r

hnh 2, chi tit v m kp tip xc 2 ng, ng sut pht sinh

tnh theo cng thc:

NEq 2 l
0.418
( )
l d r

hnh s 4, tip xc im v tip xc ng cong, ng sut pht sinh

tnh chung nh sau:

0.418

2 NEq
ld

hnh 3, chi tit v m kp tip xc ng, ng sut pht sinh tnh

2
theo cng thc:

NEq
r2

d
r
2

 Trong :

N: lc tip xc gia m kp v vt (N):

Eq: m un n hi quy i ca vt liu m kp v vt;
l: B rng ca m kp (cm);
d: ng knh ca vt (cm);
r: Bn knh ca u m kp (cm);
m: H s ph thuc vo t s 2r/d (tra bng);
M un n hi ca vt liu i tng Er v ca m kp
2 Ev E m
Em theo cng thc:
Eq
Ev E m

Bng gi tr h s m, theo t s 2r/d:

 5.4.3.2. Tnh ton tay kp chn khng v in t:

Tnh lc kp chn khng:

Lc kp c tnh theo cng thc:

P k p Ftx ( Pa Pb )

Trong :
kp: l h s tnh n s thay i p sut kh quyn v tnh trng kn
kht ca mt tip xc, ly bng 0,85
Ftx: Din tch gia u kp v vt, thng ly bng 0,6 0,7 din tch
tip xc thc t;
Pa: p sut kh quyn;
Pb: p sut d trong bung ht.
Vi h thng ni gia bung ht vi bm c giong kn kht th p
sut d ly bng p sut chn khng ca bm. Nu khng t c yu
cu trn th c th ly:
pa pb = (3,0 3,5) (N/cm2)

 Tnh lc kp in t:

Lc kp c tnh theo cng thc:

2
n

I
P
25F ( Rk Rl )

Trong :
In: S ampe vng ca cun dy nam chm;
F: Din tch tip xc gia cc nam chm v vt;
Rk, Rl: t tr ca khng kh v ca li thp trong mch t;
Nu trong vt liu st t c cc tp cht P, S, Mn, Ni th
t tr tng, lc kp s b gim.

Chng 6: H thng iu khin robot (5 tit)

6.1. H thng chp hnh:

Chuyn ng ca cc khp trong tay my c thc hin bi h
thng chp hnh, n gm cc b phn sau:
Ngun in (ngun nng lng ni chung).
B khuych i cng sut.
ng c.
Truyn ng c kh.
Di y l s ghp ni h thng chp hnh, trong c th
hin s chuyn i nng lng:

 th hin quan h chung, k hiu Pc l tn hiu iu khin

(thng l tn hiu in); Pu l cng sut c hc cn thit
lm chuyn ng khp. Cc i lng trung gian gm:
Cng sut in cung cp cho ng c (thy lc, hoc kh
nn) Pa
Cng sut ngun Pp (thng c cng bn cht vt l vi Pa)
Cng sut c hc do ng c pht ra Pm
Ngoi ra cn c cc loi cng sut tn hao trn cc khu
trung gian nh:
Khuych i cng sut ng c v truyn dn Pda; Pds; Pdt.
Xut pht im chn cc khu trong h thng chp hnh
l cng sut c kh Pn m bo lc v vn tc chuyn
ng ca cc khp. Sau y trnh by khi qut chc nng
ca cc cm chnh trong h thng.

6.1.1. Truyn dn c kh:

Chuyn ng ti cc khp ca tay my thng c vn
tc thp v i hi mmen xon ln trong khi cc ng c
thng lm vic vi tc vng quay ln v m men
xon nh. V vy gia ng c v khp thng c b
phn bin tc s dng vng lm vic c li nht ca
ng c. Thng qua b phn truyn dn ny, cng sut pm
tr thnh pu v b tn hao mt lng pdt do ma st. Khi
chn hnh thc truyn dn cn cn c vo cng sut cn
thit, loi chuyn ng ca khp v v tr t ng c so
vi khp, v b phn truyn dn khng ch bin i cng
sut m c dng chuyn ng, chng hn chuyn bin
chuyn ng quay ca ng c thnh chuyn ng tnh
tin trong khp. Nu kho b tr ng c v truyn dn c
th gim tiu hao nng lng. Trong robot thng s
dng cc loi c cu sau:

 - C cu trc vt bnh vt, cho php i phng trc v to tnh t hm

cho cu trc.
- C cu vt me ai c, cho php bin chuyn ng quay trn ca trc
ng c thnh chuyn ng tnh tin ca khp trt, c cu ny cng
to c tnh t hm trong cc dch chuyn thng ng. gim ma
st c th s dng c cu vt me ai c bi, c cu ny thng c lp
c di iu chnh sc cng ban u v tng cng vng.
- Truyn ng ai rng v truyn ng xch cho php t ng c xa
trc khp. Lc cng ai gy ti trng hng knh ln. trc v gi
nn ch dng khi lc nh v vn tc chuyn ng ln. Ngc li xch
hay b dao ng nn thng dng khi vn tc nh.
- C cu khu khp nh c cu bn khu bn l, c cu con trt, n
by.., cng l nhng c cu rt thng s dng trong robot.
Vi gi thit chuyn ng khng c khe h v khng c trt, t s
truyn ca cc b truyn c kh l khng i.
Ngy nay ngi ta thng gn trc tip rotor ca ng c tuyn tnh
ln trc ca khp m khng qua truyn dn c kh trung gian, iu
loi tr c nh hng ca khe h v bin dng do truyn dn c kh
sinh ra. Tuy nhin n i hi cc gii php k thut iu khin duy
tr quan h tuyn tnh truyn ng trong di rng. Truyn ng trc
tip cn cha ph bin trong robot v l do kt cu

6.1.2. ng c:

ng c l ngun to ng lc chuyn ng cho cc

khp. Ty thuc dng nng lng s dng, ngi ta thng
s dng cc loi ng c kh nn, ng c thy lc v ng
c in. Trong k thut robot ngi ta s dng cc ng c
cng sut t vi chc wat n hng ch kilowat. Do c
im s dng trong robot, chng hn yu cu bm st qu
o thit k, nh v chnh xc nn cc ng c c s
dng phi p ng cc tnh cht sau:

Qun tnh nh v t s tiu hao / trng lng cao.

C kh nng chu qu ti l xung lc.
C kh nng gia tc tt.
Di tc lm vic rng t 1 10.000 (v/p).
chnh xc nh v cao (t nht 1/1000 vng trn).
C th lm vic trn tru vn tc thp.

 ng c kh nn kh p ng c cc yu cu trn, v khng th
khc phc c tnh nn c ca mi cht th kh. Chng ch c
dng cho cc chuyn ng ng m, v d dng cho tay kp hoc
chuyn ng im - im.

ng c in gm cc loi mt chiu, xoay chiu thng dng, ng

c servo, trong ng c servo c dng thng dng hn c. ng
c servo khc vi ng c thng ch n c iu khin phn hi
bng mt h thng iu khin in t c phn hi, tn hiu phn hi
ly t cc sensor vn tc, hoc cc sensor v tr gim st lin tc v tr
tng i gia rotor v stator, trn c s sinh ra tn hiu iu khin
vn tc v chiu quay ca rotor. ng c servo c c tnh ng lc
hc tt, kt cu n gin lm vic tin cy nn ngy cng c a
dng. ng c in mt chiu c in khng c a chung v c b
gp in gy nhiu phin phc khi s dng, c th thay th loi ny
bng ng c in mt chiu khng c gp.

ng c bc do c cng sut nh, chnh xc thp do khng c

mch phn hi v tr, do c tnh ng lc hc ph thuc ti trng, c
hin tng b bc khi ti ln. loi ng c ny r tin hn ng c
servo nn thng c dng cho nhng ni khng i hi chnh
xc cao.

 ng c thy lc c cc c tnh tng ng vi ng c

in, c th trc tip sinh ra chuyn ng tnh tin v
chuyn ng quay. Mc d v cn bn ng c in v
ng c thy lc tng ng nhau song chng khc nhau
v c im s dng:

ng c in c cc u im sau:

D cung cp nng lng v h thng in c khp ni;

Gi r, chng loi phong ph v di cng sut rng;
Hiu sut bin i nng lng cao;
D s dng v chm sc;
Khng gy nhim mi trng;

Bn cnh chng c cc nhc im sau:

Pht nhit trng thi tnh hoc khi tc thp do phi dng
phanh.
Cn bo v c bit nu lm vic trong mi trng d chy.

 Ngc li ng c thy lc c u im:

Lm vic tt trng thi tnh v tc thp m khng pht nhit.
T bi trn v lm mt tt nh s lu thng ca cht lng khi lm
vic.
An ton trong mi mi trng.
C cng sut ring theo trng lng cao.

Bn cnh chng c cc nhc im sau:

Cn trm cung cp thy lc ring.

t tin, t chng loi, kh lp t chm sc v bo tr.
Hiu sut bin i nng lng thp.
D gy nhim mi trng do du trong h thng d g khi vn
hnh, hoc c du thi khi sa cha bo dng.

Xt v kha cnh iu khin v vn hnh ng c in d

iu khin v c th thay i ch lm vic mt cch linh
hot. c tnh ng lc ca ng c thy lc cn ph thuc
vo nhit du. ng c in lm vic tt tc cao v
ti trng nh nn thng phi dng truyn ng c kh
trung gian. Ngc li ng c thy lc lm vic tt khi tc
thp v ti trng ln nn thng truyn ng trc tip.

Khuych i cng sut:

Khuych i cng sut c chc nng bin i trng thi nng
lng ca ngun cung cp sao cho ph hp vi yu cu ca ng
c. Cng sut cung cp t l vi tn hiu iu khin pc v thng
ln hn cng sut iu khin nn b bin i ny c tn l bu
khuch i cng sut. Mt b phn cng sut vo, gm pc v pp,
sau khi bin i c cung cp cho ng c (pa). Phn khc (pda)
b tn tht trn bn thn b bin i.
i vi ng c in, b bin i thng phi bin i in
nng di dng xoay chiu thng dng, th d 230/380 V 50
Hz thnh in mt chiu (cho ng c in mt chiu) hoc
thnh in xoay chiu vi in p v tn s thch hp (cho ng
c xoay chiu). Cc b bin i dng cho ng c in mt
chiu c gi l AC to DC converter hay l chopper.
ng c thy lc thng c iu khin bng cch thay i
lu lng cht lng cung cp cho n. C cu iu khin thng
l cc van tit lu, cho php thay i lu lng theo tn hiu
in.

Ngun cung cp chnh:

Nhim v ca ngun cung cp chnh l cung cp nng
lng ti u vo ca b bin i. Nu l in nng th
ngun cung cp thng l bin p. Nu dng dng in
mt chiu th phi c chnh lu.
Ngun cung cp cho ng c thy lc l trm bm cc
loi, nh bm bnh rng, bm cnh gt, bm
pistonTruyn ng cho chng l cc ng c s cp,
thng l cc ng c in xoay chiu khng ng b.
Ngoi ra trong h thng cung cp cn c b cha, b lc,
van an tan, van trngip cho h thng lm vic c
n nh, an ton. Vai tr ca chng ging nh t in l
phng v cc kiu b lc khc trong h thng.

6.2. iu khin ng c servo:

V ng c in v ng c thy lc c dng nhiu nht trong
k thut robot, trong phn ny gii thiu su hn v m hnh ton
hc v s iu khin ca chng.
6.2.1. iu khin ng c in:
Cc loi ng c in ph bin bao gm ng c in xoay chiu
c c gp, ng c in xoay chiu ng b v khng ng b. Cc
ng c in dng trong iu khin t ng cn nhng tnh cht
c bit, nh d iu khin, qun tnh nh, c th lm vic n nh
tc thp hoc trong trng thi tnh.
Tuy c s khc nhau v kt cu v nguyn l lm vic, ng c
in mt chiu v ng c servo c th c m hnh ha ging
nhau. Thng qua bin phc s, s cn bng in ca phn ng c
m t bi phng trnh:
Va (R a sLa )I a Vg

 Trong :
Va , Ra , La , I a ln lt l in p, in tr, in khng v dng in
phn ng.
V g l sc in ng phn ng, t l vi vn tc gc ca rotor:
Vg k v
H s kv th hin quan h gia vn tc gc ca rotor vi sc in
ng. N ph thuc kt cu ca ng c v tnh cht in t ca phn
cm.

Tng t phng trnh cn bng c hc ca ng c c dng:

Cm (sIm Fm ) C

Cm k l Ia

Trong : Cm v Cr l momen ch ng v momen phn lc, Im v

Fm l momen qun tnh v h s cn nht trn trc ng c. H s t
l kl biu din quan h gia momen ca ng c v dng in phn
ng. Trong h n v SI, gi tr ca n bng kv.

i vi b phn khuch i cng sut, quan h gia in p vo Vc

v in p phn ng Va chnh l hm truyn
Va
Gv

Vc l sTv

Trong : Gv l h s in p

Tv l hng s thi gian. Gi tr ca Tv nh so vi hng s

thi gian khc ca h thng nn c th b qua. V d nu dng b bin
tn trong khong () kHz th gi tr ca Tv nm trong khong () giy.
Bn cnh cc khi th hin cc quan h ni trn, cn c cc yu t
sau:
Vng phn hi dng in phn ng thng qua b bin i ki gia
cun dy phn ng v khuch i cng sut.
Khi hiu chnh dng in Ci(s) c c tnh phi tuyn trng thi
bo ha.

 Vng phn hi c dng vi 2 mc ch. Mt mt, in p

Vc ng vai tr in p chun. Nu chn Ci(s) thch hp th
tr ca Ia so vi Vc s nh hn tr gia Ia v Vc. Mt
khc, tnh phi tuyn trng thi bo ha cho php hn ch
s tng ca Vc. N c tc dng nh b hn ch dng in,
bo v khi khuch i cng sut.

T s trn, bng cch chn Ci(s), c th nhn c h

iu khin vn tc hoc h iu khin momen.

Nu ki = 0, v nu h s cn nht rt nh so vi h s
hm in nng, ngha l (Fm << kvkl/Ra), ng thi t K =
Ci(0)Gv v gi thit Cr = 0 th dn ti trng thi iu khin
vn tc:
K '

vc
kv

nu ki # 0 v chn hm truyn dng in rt ln (Kki >>

Ra) s dn ti trng thi iu khin momen:
kl ' kv
C m ( v c )
ki
K

 Mi quan h gia cc i lng vo (in p iu khin Vc,

momen phn ng Cr) vi cc i lng ra, l vn tc gc
i vi iu khin vn tc:
K
Ra
kv
k vkl
'

Vc
Cr
R a Im
R a Im
1 s
1 s
k vk l
k vk l

i vi iu khin momen:

kl
1
k i Fm
Fm
'

Vc
Cr
Im
Im
1 s
1 s
Fm
Fm

 6.2.2. iu khin ng c thu lc:

Cc ng c thu lc u c iu khin bng cch thay

i lu lng du qua bm. Bt k s khc nhau v cu trc
vt l, cc mi quan h c bn gia lu lng v p sut,
chuyn ng ca cht lng v chuyn ng ca cc chi tit,
s cn bng c hc ca cc chi tit u xut pht t o hm
quan h vo/ra.

Gi s Q l lu lng cung cp, Qm l lu lng vo

ng c, Ql l lu lng tn hao do lt du trn bm, Qc l
lu lng tn hao do tnh nn c ca du, ta nhn c
phng trnh cn bng lu lng nh sau
Q = Qm + Ql + Qc

Cc i lng tn hao Ql v Qc c tnh n khi h

thng lm vic di p sut cao, c hng trm atmosphe.

Gi P l chnh lch p sut gia u ra v u vo ca

bm do ti, ta c quan h
Ql = klP

 Tn hao lu lng do tnh nn c ca cht lng t l vi th tch

tc thi ca cht lng V v p sut P thng qua h s nn v bin
phc s:
Qc VsP
T ta thy rng h s t l kc = V gia o hm theo thi gian
ca p sut P v lu lng Qc ph thuc vo th tch V ca cht lng.
V vy, i vi ng c quay th kc l hng s, cn i vi ng c
tnh tin th V thay i nn phn ng ca h thng tu thuc im
cng tc.

Lu lng cht lng vo ng c t l vi lng bin thin trong

mt n v thi gian ca th tch cht lng trong b cha. Mt khc
lng bin thin ny li t l vi vn tc gc ca ng c. Cui cng
Qm k q
nhn c:

Cui cng th momen ca ng c t l vi chnh lch p sut

Cm (sIm Fm ) Cr
ca bm:

iu kin cn bng c hc ca cc chi tit chuyn ng c m

t bng phng trnh : Cm k l P
i vi van iu khin, hm truyn gia v tr X ca van v in p
Gs
iu khin Vc c xc nh nh sau: X
Vc

1 sTs

6.3. H thng cm bin

6.3.1. Khi nim v phn loi cm bin
* Cc khi nim:

Cm bin l thit b dng nhn gi tr ca i lng

vt l cn o v bin i n thnh tn hiu m thit b o
hay iu khin c th x l c.

Nh vy, cm bin c hai chc nng: cm, ngha l

nhn tn hiu cn o v bin, ngha l chuyn i dng v
gi tr ca tn hiu sn sng cung cp cho thit b hin th
hay x l tip theo. C nhiu i lng vt l, nh lc, rung
ng, thnh phn ha hc, rt kh o trc tip mt mi
cch chnh xc v r tin. Ngi ta phi chuyn chng sang
i lng tng ng khc, thng l i lng in nh
in p, dng in, in tr d s dng cc thit b hin
th v x l chun, thng dng v r tin. Dng v gi tr tn
hiu xut ra ca cc cm bin thng c chun ha d
ghp ni vo cc mch x l tip theo.

 Cm bin cn c tn khc, nh u o, sensor,... T c gc Anh

sensor c ph cp rng ri trn th gii, k c trong cc ti liu
xut bn Vit Nam.

Sensor l tn gi chung ca Switch v Transducer. Switch l thit

b ng m, thng gi l cng tc, ch c hai trng thi tn hiu ra l
ng v m. Transducer l thit b bin i. Tn hiu ra v tn hiu
vo ca n c th khc nhau v gi tr bn cht vt l v gi tr, nhng
khng khc nhau v quy lut bin thin theo thi gian. V d vi cng
tn hiu vo l p sut khng kh, Switch c trng thi ng nu p
sut ppo, c trng thi m nu ppo cn Transducer th cho tn hiu ra
l in p nhng khng thay i quy lut bin thin theo thi gian vn
c ca tn hiu vo.

* Phn loi sensor:

Theo chc nng ngi ta phn bit 2 nhm sensor. Mt nhm dng
gim st trng thi cng tc ca bn thn robot, c gi l sensor
trong (proprioceptive sensor). Nhm th hai, c gi l sensor ngoi
(heteroceptive sensor), dng o cc thng s ca mi trng v s
tng tc ca robot vi mi trng.
Cc loi sensor trong ch yu l: sensor v tr, sensor vn tc v
sensor gia tc hay sensor lc.
Sensor ngoi c rt nhiu loi tu thuc thng s mi trng cn
o, v d sensor nhit o nhit ca mi trng m robot hot
ng, sensor lc o lc nm (kp) ca tay hoc nh v i
tng (v d lng trc vo bc khi lp rp), thit b quan st (vision
system) nhn dng i tng
Ngoi cch phn loi sensor theo chc nng cn c nhiu cch phn
loi khc nh:
Theo i lng cn o, c sensor nhit , p sut, vn tc, gia tc,
lu lng
Theo kt cu v nguyn l lm vic, c sensor in tr, in dung,
in cm, p in, quang in, in ng
Theo phng thc cm nhn, c sensor tip xc (tactile sensor),
khng tip xc (proximity sensor).

 6.3.2. Nguyn l lm vic ca mt s loi sensor

* Cm bin v tr

Cc cm bin v tr c dng gim st v tr tc thi

ca cc c cu. Tu theo dng chuyn ng cn quan tm
m v tr c th c tnh bng n v di hay n v gc.
nh cc chuyn i c kh cn thit m c th dng sensor
o gc o chiu di v ngc li. Cc sensor o chiu di
c th l bin tr, bin th vi sai, encoder thng. o gc
quay c cc loi sensor o gc, nh bin tr quay, encoder
gc, resolver, Sau ay ni v hai loi sensor thng gp
nht l encoder v resolver.

Encoder l thc o v tr theo nguyn tc s, trong

to c m ho theo h nh phn. Tu theo n v o,
chng ta dng encoder thng (linear encoder) hay encoder
gc (rotary encoder). Hai loi ny ging nhau v nguyn l
lm vic, ch khc nhau ch cc vch c khc theo
ng thng hay theo vng trn. Theo phng php m
ha, c hai loi encoder l tuyt i (absolute) v gia s
(incremental).

 6.3.2. Nguyn l lm vic ca mt s loi sensor

* Cm bin v tr

Cc cm bin v tr c dng gim st v tr tc thi

ca cc c cu. Tu theo dng chuyn ng cn quan tm
m v tr c th c tnh bng n v di hay n v gc.
nh cc chuyn i c kh cn thit m c th dng sensor
o gc o chiu di v ngc li. Cc sensor o chiu di
c th l bin tr, bin th vi sai, encoder thng. o gc
quay c cc loi sensor o gc, nh bin tr quay, encoder
gc, resolver, Sau ay ni v hai loi sensor thng gp
nht l encoder v resolver.

Encoder l thc o v tr theo nguyn tc s, trong

to c m ho theo h nh phn. Tu theo n v o,
chng ta dng encoder thng (linear encoder) hay encoder
gc (rotary encoder). Hai loi ny ging nhau v nguyn l
lm vic, ch khc nhau ch cc vch c khc theo
ng thng hay theo vng trn. Theo phng php m
ha, c hai loi encoder l tuyt i (absolute) v gia s
(incremental).

 Thc o v tr theo gia s c 1 hoc 2 a quang, c

khc cc vng trong v c xen k nhau. Nu dng mt a
th n c gn vi trc quay. Nu dng 2 a th mt a
gn vi trc quay, cn a kia c nh. Mt pha ca a t
ngun sng, pha i din t 3 con mt in thu tn
hiu ca tng vng trn. Ti mt v tr nht nh ca a,
vng no cho tia sng i qua s c m ha l l, vng no
ngn tia sng s c m ha l 0. S vng sng, ti trn a
quyt nh phn gii ca encoder.

Ti thi im bt u lm vic, h thng phi c quy

khng bng cch quay l st vng trn th hai ti v tr i
din ngun sng con mt th ba nhn thy tia sng. Khi
h thng bt u lm vic, mt b x l s m s ln con
mt ngoi cng nhn thy tia sng, t tnh ra gc m a
quay. Chiu quay ca a c nhn bit nh s phi
hp tn hiu ca hai vng: nu a quay theo chiu kim ng
h th mt ngoi cng nhn thy tia sng trc mt th hai
v ngc li. Cn c vo chiu quay m gia s s c cng
hoc tr vo tng s.

 Thc o v tr tuyt i (Absolute Encoder) c mt a

quang, trn c nhiu vng trn ng tm. Mi vng cha
cc vng trong v c xen k nhau. S vng trn quyt nh
phn gii ca encoder. Nu s vng trn l n th s phn
m mt vng trn c th c chia ra bng 2n, gc nh nht
m encoder phn bit c l 360o/2n. V d nu s vng l
n = 4 th s phn chia ca vng trn l 24 = 16, encoder s
phn bit c gc quay 360o/16 = 22,5o. Nu n = 8 th gc
l 360o/4096 = 0,088o.
Resolver khng pht ra tn hiu s nh encoder m pht ra
tn hiu tng t i din cho v tr ca i tng o. Nhn
v b ngoi n ging ng c in nhng nguyn l lm
vic ca n ging bin th nhiu hn. Cun dy rotor c
cp in p xoay chiu thng qua cc vnh dn in.

in p cung cp cho rotor c dng hnh sin,

dng V sin t.cos , cn trn cun kia c in p . R rng gi
tr in p ra ph thuc gc gia rotor v stator. Tn hiu
phn hi ca gc quay c cung cp cho 2 cun dy qua
hm sin v cos , sau khi nhn vi tn hiu u vo v
cng i s c tn hiu ra l V sin t.sin( ) . Tn hiu
ny c khuch i v gi ti khi ng b, m bo gi
tr ca n phi t l vi sin( ) nu c sai lch, tn hiu
c b bi thit b b. Sau , tn hiu c tch phn.
Mch phn hi c b to dao ng, chuyn i in p
thnh tn s (voltage-to-frequency converter - VCO), v
khi m xung. Gi tr s i din cho gc quay .

* Cm bin vn tc

Mc d c th xc nh vn tc t kt qu o v tr, ngi
ta vn thng o trc tip n bng cm bin c lp. Cc
cm bin vn tc thng dng c tn l tachometer. C 2
loi tachometer l DC tachometer v AC tachometer.

DC tachometer l mt my pht in mt chiu, dng

nam chm vnh cu. Yu cu c bit i vi chng l quan
h tuyn tnh gia tn hiu vo (tc quay) v tn hiu ra
(in p); gim hiu ng t tr v nh hng ca nhit .
Nhc im ca DC tachometer l dng c gp in v
khng th loi tr c hin tng mch p bng phng
php lc, v tn s tn hiu ra thay i thng xuyn.
tuyn tnh ca DC tachometer c th t trong khong 0,1 1%, h s p mch bng khong 2 5% gi tr danh nh
ca tn hiu ra.

 AC tachometer khc phc c hin tng mch p. N gm stator,

c 2 cun dy v rotor kiu cc. Cun dy th nht (cun kch t)
c cp in p xoay chiu hnh sin vi tn s khong 400 Hz. Khi
rotor quay, trn cun dy th hai s xut hin in p xoay chiu t l
thun vi tc quay ca rotor . Hin tng mch p vn c nhng
c th loi tr bng b lc thch hp, v tn s tn hiu ra khng i.
Ngoi ra, AC tachometer cn c cc u im khc, nh khng gp cc
phin phc do c gp, rotor khng c cun dy nn nh, momen qun
tnh nh, d cn bng v chc chn. Nhc im ca n l c in p
d u ra ngay c khi rotor khng quay do h cm k sinh gia cc
cun dy.
* Cm bin o lc

Mt vt chu tc dng ca lc v momen bao gi cng b bin dng,

ngha l c s chuyn v tng i gia cc phn ca n. V vy cc
php o lc v momen thng c quy v o chuyn v. Thng s
ca cc linh kin in, nh in tr, in dung, in cm, thng thay
i khi b bin dng. Da vo ngi ta ch to cc u o kiu in
tr, in dung, in cm o lc. Trong mt s tinh th vt cht, nh
thch anh, khi b bin dng s c chnh lch in p gia cc vng.
Da vo , ngi ta ch to ra cc u o lc kiu p in
(piezoeletric).

 Trong s cc loi sensor lc k trn, ngi ta hay dng

kiu in tr, gi l tensiometer. l in tr lm bng
dy dn mnh, c dn nn phn t bin dng. Nu phn
t b ko th tit din dy b gim, do in tr ca n
tng. Ngoi yu cu v tuyn tnh, in tr sut ca vt
liu lm tensiometer phi t thay i theo nhit . tng
vng lm vic tuyn tnh, ngi ta dng cu cn bng, trong
tensiometer l mt nhnh (Rs). Khi cha tc dng lc,
cu cn bng, ngha l Vo = 0. Khi c lc Rs thay i, lm
cu mt cn bng. Tn hiu ra c tnh theo cng thc:
Rs
R2
Vo (

)Vi
R1 R 2 R 3 R s
b s nh hng ca nhit , ngi ta dng R3 nh
in tr b, gn ln vng khng chu lc. Nu gn R3 ln
pha i din ca phn t bin dng, sao cho Rs chu ko
cn R3 chu nn th s tng c nhy ca sensor.

Quan h gia lc tc dng v tn hiu ra ph thuc rt

nhiu vo cch gn sensor ln phn t bin dng. Sau y l
v d minh ho v ng dng tensiometer vo o lc tc
dng ln c tay khi nng vt. Trong trng hp ny phn t
bin dng c dng ch thp (kiu Maltese), ng vai tr
truyn lc gia kp v c tay. Cc tensiometer c dn ln
cc nhnh ch thp, sao cho sensor nhn c tn hiu lc
tc dng theo bt c phng no. Mi nhnh ch thp c
dn 2 tensiometer, nn tng s gi tr o c l 8,
t 1 n 8 . Lc tng qut tc dng ln c tay c 6 thnh
phn: 3 thnh phn lc hng theo 3 trc ta (fx, fy, fz)
v 3 thnh phn momen quanh 3 trc ( x , y , z ). Quan
h gia cc thnh phn lc v momen vi cc gi tr o
c biu din qua mt ma trn, gi l ma trn chun nh
(calibration matrix):

f x 0
0
f
y c 21 0
f z 0 c32

0
x 0
0 c
52
y
z c61 0

c13
0
0
0

0
0
c34
c 44

0
c 25
0
0

0
0
c36
0

c17
0
0
0

0
c63

0
0

0
c65

c56
0

0
c67

1

0 2
0 3

c38 4

c 48 5

0 6

0 7

8

Cc sensor thng dng kiu ny c ng knh khong 10 cm,

cao khong 5 cm; c gii hn o lc (50 500) N v momen
(5 - 70) Nm; phn gii o lc khong 0,1% v momen
0,05% gi tr cc i; tc ly mu ca mch x l khong 1
Hz.

* Thit b quan st (Visual System)

Thit b quan st l mt sensor c bit, c kh nng nhn

bit v x l hnh nh ca i tng. Thit b quan st c
ng dng rng ri trong cng nghip ni chung, song ng
dng trong robot l ng dng c trng nht. Mt khc x
l nh cng l mt trong nhng lnh vc pht trin mnh
nht ca cng ngh thng tin hin i, nn thit b quan st
trn robot gn lin vi my tnh.

Trn hnh 6.12 l mt h thng quan st n gin ca

robot, nhn bit 2 vt: mt vt cao v mt vt thp. H
thng c mt ngun sng v 2 sensor thu nh sng. Nu c
vt cao trc ngun sng th c 2 sensor u nhn c nh
sng phn x. Nu ch c vt thp th ch ring sensor thp
nhn c. Nu khng c vt no th khng sensor no nhn
c tn hiu. Hnh nh ca i tng ch gm c 2 im
nh (trong k thut x l nh, im nh c gi l pixel).

 Tn hiu v i tng, tuy ch c 2 pixel nhng cng cn b

phn tch, v d mt PLC. N c lp trnh :
Bo hiu cho robot nu c vt cao trc mt. V vy robot
ch phi phn ng khi gp vt cao.
Ni hiu lnh cho ngi nu ch c vt thp trc mt. Nh
vy ngi ch phi phn ng nu gp vt thp.

Gi h thng trn l thit b quan st c th l hi lm

dng t ny v h thng nh vy c l khng tn ti trn
thc t, nhng n cho mt hnh dung ban u v thit b
quan st.

Thit b quan st tht s cng c cc b phn c bn nh

h thng v d trn. l h thng n gin nhn dng
chi tit. N c kh nng phn bit cc chi tit trong trng
quan st ca mnh.

H thng nhn dng ni trn gm c:

Ngun sng, tia sng do n pht ra s b phn x bi vt v
c thu bi
Camera, bin i quang nng thnh in nng, cung cp
cho
B thu nh (Framegrabber), gm mch in t v phn
mm phn tch tn hiu thnh cc pixel v biu din
chng di dng m nh phn. S phn b cc im nh
gi l bitmap. S ny s c chuyn ti
My tnh lu tr v x l tip. my tnh s so snh s
im nh ca vt vi s im nh chun (gi l template)
trong th vin xem vt thuc loi no. My tnh s ch
cho robot bit chi tit n ang nhn thy l chi tit no,
thng qua
Giao din u ra. N chuyn tn hiu t h thng nhn dng
cho b iu khin robot. V d, mt m H (nu chi tit l
hp), m C (nu chi tit l c l) s c truyn theo giao
din chun RS 232.

Thit b nhn dng cng chnh xc nu c s im nh trn mt n

v din tch nh (ngha l phn gii) cng ln. n v chun ca phn
gii l dpi (dots per inch). Mn hnh my tnh c phn gii c 100
dpi, cn my in laser thnh c phn gii cao hn (c 300 dpi tr
ln). phn gii ca nh cng ln th tc x l v dung lng b
nh ca my tnh cng phi cao. Kh nng nhn dng chnh xc ca
thit b quan st cn cho nhng trng hp sau:
Phn bit cc chi tit kh ging nhau
Phn bit cc sn phm tt v ph phm
S dng mu sc nhn dng i tng
o kch thc ca chi tit
Nhn bit vt cn trnh va chm
Nhn bit khong cch v hng ca chi tit
Nhn bit tc v hng chuyn ng ca i tng
Nhn bit i tng 3 chiu
Cc thit b nhn dng mc tiu ca my nm bom, nhn dng ng
cho cc t t li, l nhng v d v cc thit b quan st hin i.

 6.4. H thng iu khin

Cc phn trn trnh by v h thng c kh (xng ct)

v h thn kinh ngoi vi. Mun iu khin c robot cn
mt h thng thn kinh trung ng, tc l no b. l h
thng iu khin.
6.4.1. Kin trc chc nng

H thng iu khin robot cn c cc kh nng sau:

- iu khin chuyn ng ca cc c cu c kh
(manipulation ability);

- Thu nhn thng tin v trng thi ca h thng v v mi

trng cng tc (sensory ability);

- Phn tch thng tin v phn ng trc iu kin thc t

trong phm vi xc nh (intelligent behavior ability);

- Lu tr, x l v cung cp thng tin v h thng (data

processing ability);

 Mun vy, b iu khin cn c cc khi (modul) c bn:

- Modul cm bin thu nhn, bin i, hiu chnh, tng hp
thng tin v trng thi ca h thng v v mi trng.
- Modul tng hp, thit lp m hnh tng hp v h thng
v mi trng trn c s thng tin do modul cm bin cung
cp.
- Modul ra quyt nh, a ra phng thc hnh ng. T
chin lc hnh ng, lp k hoch, iu khin hot ng
ca c cu thc hin nhim v theo tnh hung c th.

Cc modul trn t ng lin kt vi nhau theo nhim v

c quy nh trong chng trnh, c tnh n kh nng
thch ng ca h thng trong qu tnh hung c th. Tuy
vy, vn cn c giao din vi ngi vn hnh khi cn con
ngi c th kim tra, gim st, can thip vo h thng.

 Tnh n cng trao i thng tin gia cc modul vi nhau v gia

h thng vi ngi vn hnh, cn c b nh chung lu tr cc
thng tin ban u v thng tin cp nht ca h thng v mi trng.

Cu trc chc nng trn c phn cp theo th bc. Cu trc bc

thp lin quan n cc dch chuyn vt l. Cu trc bc cao gn vi
chc nng phn tch logic. Cc bc lin h vi nhau thng qua dng
d liu. S trn hnh 6.14 cho php nhn nhn tng quan v cu
trc chc nng v cu trc th bc ca h iu khin robot.

Tu theo yu cu i vi hot ng ca robot, cc chc nng c

phn cp vi mc khc nhau. Ni chung c th phn thnh 4 cp
chnh:
- Cp nhim v (task level), gii quyt cc vn chung v nhim v.
So snh yu cu t ra vi kh nng chp nhn ca h thng, tnh
trng hin ti ca h thng vi mi trng
- Cp chin lc (action level), gii quyt phng thc hnh ng
chung, v d h ta , v tr ca phn cng tc, cc im phi i qua,
hm ni suy s s dng
- Cp k hoch (primitive level), thit lp qu o, tnh ton ng hc
v ng hc ngc, phn tch tnh trng h chp hnh,
- Cp tha hnh (servo level), lin quan n cc hot ng c th,
nh gii m lnh, ni suy, x l li, giao din vi c cu chp hnh.

6.4.2. Mi trng lp trnh

c im quan trng ca robot l lm vic theo chng

trnh v ti lp trnh c. Chng trnh l phng tin
ngu s dng truyn t cho robot cc nhim v m n
phi thc hin v hng dn cho robot lm vic th no.
V vy robot cn c mt mi trng lp trnh vi ngn ng
lp trnh nht nh. Mi trng lp trnh, ngoi h thng
lnh v hm nh cc ngn ng lp trnh khc, cn phi c
kh nng gim st qu trnh lm vic ca robot v c phn
ng thch hp. Ni cch khc, d h thng c thit k
chnh xc v t m n u th cng khng lng ht c
mi yu t bt trc. Chng trnh phi cho php robot phn
ng hp l trong mi tnh hung. Ni tm li, mi trng
lp trnh robot cn c cc yu t sau:

- H thng iu hnh trong thi gian thc.

- M hnh ha khng gian cng tc
- iu khin chuyn ng
- c v x l thng tin t h thng sensor
- Giao din vi h thng vt l
- Pht hin v x l li
- Phc hi cc chc nng lm vic ng
- Cu trc ngn ng xc nh
Nh vy, mi trng lp trnh bt ngun t cu trc h
iu khin, ngha l c kt cu chc nng v th bc.
S pht trin ca mi trng lp trnh ph thuc vo khoa
hc my tnh. Theo nh hng chc nng c th nhn thy
3 th h ca mi trng lp trnh: lp trnh kiu lm mu
(teach-in programming), lp trnh nh hng robot (robot
oriented programming), lp trnh nh hng i tng
(object oriented programming). Th h sau thng bao c
chc nng ca th h trc.

* Lp trnh lm kiu mu

y l phng php lp trnh n gin nht. Ngi vn hnh dng

mt thit b c bit, gi l teach pendant hay trc tip dn dt tay my
thc hin cc thao tc. Mi thao tc s c ghi nh sau tay my
c th lp li. D ngy nay ngn ng lp trnh pht trin, phng php
lp trnh hin nay vn cn c s dng, v d ngi ta mi hc lp trnh
hoc lp trnh cc thao tc phc tp, kh din t trc tip bng ngn
ng lp trnh bc cao.
* Lp trnh nh hng robot

Phng php ny pht trin trn c s k thut my tnh hin i. c

im c bn ca n l dng ngn ng lp trnh bc cao, c cu trc
m t cc thao tc. Cc yu t chnh ca mi trng gm:
- B son tho chng trnh di dng text editor
- Cu trc biu th d liu phc tp
- S dng cc bin trng thi
- Thc hin cc php ton ma trn
- S dng k hiu biu din h ta .
- C kh nng chuyn i ta vt trn cc khu, khp ca tay my
- Dng k thut chng trnh con, th tc, vng lp
- C kh nng tnh ton song song
- Cc chc nng iu khin logic kh trnh (PLC).

 S dng mi trng lp trnh nh hng robot c th tao

ra cc giao din vi cc thit b khc trong h thng sn
xut. Mt khc, khng nht thit phi lp trnh trc tip trn
thit b m trn mt lp trnh c lp (offline programming).
Mt cng c lp trnh rt c hiu qu l CAD/CAM, cho
php m t h thng v mi trng lm vic di dng
ha.
* Lp trnh nh hng i tng:

Lp trnh hng i tng cho php thm nhp vo cp

iu khin cao nht: m hnh ha mi trng lm vic ca
robot nh trong h thng sn xut thc. Trong h thng
robot ch l mt trong nhng thit b, lm vic ng b vi
cc thit b khc. i tng lp trnh v m t l nhim v
sn xut ca c h thng ch khng phi ch ring robot.
Mi trng lp trnh ny dn dn mang cc c tnh ca h
chuyn gia v tr tu nhn to.

 6.4.3. Cu trc phn cng

Thng nht vi cu trc chung ca h thng iu khin, phn cng

cng c cu trc chc nng theo th bc. S cu trc phn cng
nh trong hnh 6.16.

Hnh 6.16: S cu trc phn cng ca h iu khin RBCN

Trong h thng ny, tu chc nng c hnh thnh nh bng mch

ring. Cc bng mch c lin kt vi nhau qua ng truyn (BUS)
d liu. rng ca BUS phi cho php x l thi gian thc.

Bn mch (Board) h thng, thc cht l CPU, gm:

Mt b vi x l vi ng x l ton hc,
Mt EPROM cho cu hnh h thng,
Mt RAM ring (local),
Mt RAM chia x vi cc bng mch khc thng qua BUS
Mt s cng ni tip v song song ghp vi BUS hoc cc thit b
bn ngoi.
Cc b m, thanh ghi v ng h
H thng ngt
Board h thng thc hin cc chc nng sau:
Giao din vi cc teach pendant, bn phm, video, my in,
Giao din vi b nh ngoi ( cng) lu d liu v chng trnh
Giao din vi cc trm hoc h iu khin khc trong mng cc b
(LAN),
Giao din vo ra (I/O) vi cc thit b ngoi vi, nh bng ti, nng h,
o lng, ON/OFF sensor,
B dch chng trnh,
B iu khin BUS.

Board ng hc thc hin cc chc nng:

- Tnh ton ng hc ca cu trc,
- Gii cc bi ton thun, nghch, Jacobian ca ng hc tay my,
- Test qu o
- Gii quyt vn lin kt ng hc tha.
- Board ng lc hc gii quyt bi ton ngc ca ng lc hc tay
my.
- Servo board c cc chc nng:
- Ni suy qu o,
- Thc hin cc thut ton iu khin,
- Chuyn i s - tng t v giai din vi cc b khuch i cng
sut
- X l cc thng tin v v tr v vn tc,
- Ngt chuyn ng khi c s c.
Cc board khc c chc nng x l thng tin t cc servo tng ng.

 Mc d cc board u truyn d liu qua BUS, tc trao

i d liu ca chng khng cn ging nhau. Cc thng tin
h thng cung cp cho cc servo board cn cp nhp nhanh
nht c th c, nn tc trao ica chng rt cao (100
1000) Hz. Board ng hc v ng lc hc ch thc hin
cc php tnh khng trc tip tham gia iu khin h thng
nn trao i thng tin tn s thp hn (10 - 100) Hz.
Vision board cn trao i d liu vi tn s thp hn na (1
- 10) Hz. Vic cc board trao i d liu vi tc khc
nhau gip phng nga tnh trng nghn knh d liu.

S pht trin ca k thut iu khin robot khng th tch

ri s pht trin ca cng ngh thng tin. Bn thn b iu
khin robot l mt my trnh chuyn dng (hnh 6.17), bn
cnh nhng nguyn tc chung c nhng c im ring
trong cu to v hot ng.

 B x l trung tm
My tnh gy nn s pht trin ng k ca k
thut iu khin robot. Cc b vi x l (VXL) 8 bit
nh Motorola 6800 hoc Zilog Z-80 tng c
s dng ph bin trong iu khin robot. Ngy nay,
phn ln robot dng VXL 16 bit, vi coprocessor tng kh nng tnh ton. Thng dng
nht l cc b VXL Intel 8086, 8088. Ngoi tng
ng k tc x l, chng cn c khr nng m
rng b nh a ch, cho php iu khin tt hn vn
tc v gia tc ca phn cng tc v m rng tin ch
lp trnh. Mt s robot hn i dng b VXL 32
bit. Chng rt thch hp vi iu khin qu o lin
tc.

B nh

 Thit b vo/ra

Thit b vo/ra ca robot (hnh 6.19) phc v cho nhim v iu

khin, ngha l giao din gia my tnh vi cc thit b bn ngoi:

- Thit b iu khin cc trc, iu khin ngun ng lc cung cp

cho cc trc thi hnh cc nhim v ca robot. My tnh iu khin
h thng chp hnh thng qua cc thit b ny. Chng c th l cc
servo drive, inverter,Chng c th bao gm c b chuyn i s tng t, cho php my tnh iu khin ng c mt chiu. Nu dng
h iu khin servo th cn thu nhn tn hiu t cc sensor.
- Thit b dy (Teach Pendants) c trn hu ht robot. Loi n gin
ch cho php nh cc to m robot c dn qua sau lp li.
Loi phc tp hn c th c cc phm iu khin chc nng, nh
chuyn ng cc trc, m v ng kp,v cc lnh x l chng
trnh, nh ghi, c, chy chng trnh,

- Cc thit b ngoi vi, nh my in, thit b lu tr ngoi, mn

hnh,

- Giao din vi h thng sensor, c th l s hay tng t tu theo

loi sensor v thit b x l.

- Giao din vi cc thit b iu khin khc, nh PLC, my CNC,

robot v cc thit b sn xut khc,

- Mng truyn thng cc b hay din rng.

CHNG 7: S DNG ROBOT CNG NGHIP

7.1. Cc ng dng in hnh ca robot cng nghip

Robot c s dng trong mi lnh vc: sn xut, quc

phng, nghin cu khoa hc, dn sinh,trong , cng
nghip l ni s dng robot mt cch ph bin nht. Trong
cng nghip, cng vi cc thit b cng ngh v cc thit b
nng chuyn, robot cng c thng nht ha cao v mt
s trng hp chnh nh sau:

- Cng vic bun t, n iu, hoc lm vic lin tc c

ngy m, v d vn chuyn, xp d hng ha, phc v my
cng c, lp rp, o lng, bao gi sn phm,

- Cng vic nng nhc;

- Cng vic gy nguy him cho con ngi, nh nng,

c, phng x, di nc su, trong lng t, ngoi khong
khng v tr,

Tuy robot c s dng rng ri nh vy nhng ti liu

ny ch yu i su vo lnh vc ng dng rng ri nht ca
RBCN, l ngnh ch to my.

7.2. Cc h thng sn xut c s dng robot cng nghip

Ngy nay ngi ta dng tnh t robot ha ch cc h thng sn

xut c s dng RBCN. Cn c vo hnh thi t chc sn xut, ngi
ta phn bit 4 dng robot ha h thng sn xut.
7.2.1. Robot ha cc thit b cng ngh

y l dng ng dng n gin nht ca RBCN, trong thit b

cng nghip c phc v bi mt hay cc robot (hoc c trang b
c cu phc v dng robot) t ng ha cc cng vic phc v.
Trong gia cng ct gt, cc cng vic thng c phc v bi robot
l vn chuyn phi v sn phm, a phi vo thit b g kp v tho
sn phm sau gia cng, xp sn phm vo gi, o sn phm trn my
hoc a sn phm ln thit b o, lm sch g hoc b mt chi tit,
thay dng c,Trong sn xut c, robot thng c giao nhim v
lp, d khun, rt vt liu, lm sch vt c,Trong gia cng p lc,
robot c th m nhn vic ua phi vo vng gia cng v ly sn
phm, o phi khi rn. C nhng trng hp nh khi hn,
sn,robot ng thi l thit b cng ngh, ngha l n trc tip iu
khin m hn hay du phun sn hon thnh nguyn cng cng
ngh.

Trn hnh 7.1 (b) l s ca robot PTM-01.01. N c thit k

phc v cc my gia cng ct gt, my gip ngui v lp rp n gin.
Cc tnh nng k thut chnh ca n trong bng sau:
Tn thng s
Sc nng (kg)
S bc t do
Kiu truyn ng

Kiu iu khin

Gi tr
0,1
5
Kh nn

Chu trnh

S to lp trnh

Sai s nh v (mm)

0,1

Tn thng s
Tm vn ln nht

345

Di chuyn thng x/r/z (mm)

Vn tc thng theo x/r/z (m/s)

Di chuyn gc

o
Vn tc gc theo / ( /s)

Khi lng (kg)

Gi tr

50/150/50
0,17/0,6/0,17

220/90

6,2/1,53
30

V d v my cng c c mt robot c lp phc v trn hnh 7.3

(a). T hp dng my tin CNC kiu A616. Robot kiu P-10 c
nhim v ly phi t gi 3, cp cho my tin v ly chi tit gia cng
xong khi my, cht vo gi 5. T hp c th gia cng cc chi tit
dng a, ng knh n 100 mm, di n 200 mm, hoc chi tit
dng trc, ng knh n 80 mm, di n 600 mm. Robot kiu
P-10 trn hnh 7.3 (b) c thit k phc v cc my tin bn
t ng kiu 1A730, 1A240-6, my phen ren 5K63, my tin CNC
kiu ATP-2M12. N c tnh nng c bn nh trong bng sau:
Tn thng s

Gi tr

Tn thng s

Gi tr

Sc nng (kg)

10

Tm vn ln nht (mm)

1260

S bc t do

Di chuyn thng x/r/z 200/600/100

(mm)

Kiu truyn ng
Kiu iu khin

Kh nn
Chu trnh

S to lp trnh

Sai s nh v (mm)

0,3

Vn tc thng theo x/r/z

(m/s)

0,3/0,6/0,3

Di chuyn gc /

210/180

Vn tc gc theo / (o/s)

1,53/1,53

Khi lng (kg)

300

7.2.2. Robot ha cc t bo sn xut

T bo sn xut (manufacturing cell) l t hp, gm cc

thit b cng ngh, (cc) robot v cc thit b phc v c th
l thit b xp d, nh hng,Mi t bo sn xut c th
hot ng c lp hoc lin kt vi cc thit b hay t bo
sn xut khc hnh thnh mt h thng sn xut
(manufacturing system). T bo sn xut c robot phc v
c gi l t bo sn xut robot ha. Mt t bo sn xut t
ng ha c iu khin bi mt b iu khin chung (cell
controller).

Trn hnh 7.7 (a) l s mt t bo sn xut robot ha

tin chi tit khi lng n 40 kg. N gm 2 my tin
CNC cng kiu 16K30, c phc v bi robot kiu YM
160. N c s nh trn hnh 7.7 (b). Chu trnh hot ng
ca t bo nh sau: Robot nht phi trn bn quay 3, t vo
mm cp ca my tin th nht gia cng mt u. Sau
, chuyn phi sang my tin kia gia cng u cn
li. Cui cng, chuyn chi tit vo bn quay. Bn quay
180o, chuyn chi tit v pha gi chi tit.

YM 160 2.81.02 l robot kiu cng, dng phc v ng thi cc

my ct kim loi. Tnh nng k thut c bn ca n nh trong bng
sau:
Tn thng s

Gi tr

Tn thng s

Gi tr

Sc nng (kg)

10

Tm vn ln nht (mm)

2300

S bc t do

Di chuyn
(mm)

16000

thng

x/r/z

Truyn ng

Kh nn Vn tc thng theo x/r/z

(m/s)

Kiu iu khin

YM331

S to lp trnh

Sai s nh v (mm)

0,5

Di chuyn gc /
Vn tc gc theo/ (o/s)
Khi lng (kg)

1,2

90/90/90180
0,51/0.51/0.
25
6500

7.2.3. Robot ha h thng sn xut

Khc vi t bo sn xut, nhim v ca h thng sn xut l hon

thnh mt hay mt s sn phm hon chnh. V vy, mt h thng sn
xut c t hp t cc t bo sn xut v cc thit b cng ngh, thit
b phc v n l. V t chc, ngi ta phn bit 2 dng h thng sn
xut: dy chuyn sn xut v cng on sn xut.

Dy chuyn sn xut robot ha l t hp cc t bo sn xut robot

ha, c lin kt vi nhau bng cc thit b vn chuyn hoc gm
mt s thit b cng ngh, c phc v bi mt hay mt s robot v
cc thit b vn chuyn, hon thnh cc nguyn cng cng ngh
gia cng sn phm. Dy chuyn c t chc mt cch cht ch. V
mt khng gian v thi gian, cc thit b cng ngh c sp xp theo
trnh t cng ngh. V mt thi gian, nhp sn xut tng nguyn
cng (ngha l thi gian hon thnh nguyn cng ti mi thit b) phi
bng nhau hoc bng bi s ca nhau m bo nhp chung ca dy
chuyn. i vi sn xut dy chuyn, phng tin vn chuyn khng
ch c nhim v vn chuyn n thun m cn duy tr nhp sn xut.
Chng c b tr theo khun dng ca dy chuyn v tun theo cc
nguyn tc nht nh. Trn hnh 7.10 l mt s s b tr phng
tin vn chuyn trn dy chuyn sn xut robot ha. S phi hp mt
cch ng b gia cc thit b trn dy chuyn c m bo bi mt
h iu khin chung (global controller).

 Thit b trn dy chuyn gm: thit b xp d 1, 2;

thit b kim tra kch thc ca phi 3; cc gi ng
4; cu trc xp d 5; bng ti 6; robot 7; thit b vn
chuyn c bn nng h 8; ng vn chuyn mt ray
9; thit b vn chuyn c lp 10; tay my treo 11.
Cng on sn xut robot ha khng i hi phi
t chc cc thit b cng ngh mt cch kht khe v
khng gian v thi gian.

7.2.4. Robot trong sn xut linh hot

Sn xut linh hot xut hin v ph bin vo khong thp k

80. N l kt qu ca s pht trin ca my cng c iu khin
s, RBCN, k thut iu khin t ng nh my tnh,Mt h
thng sn xut linh hot (Fexible Manufacturing System - FMS)
trc ht phi l h thng sn xut t ng ha kh trnh
(Programmable Automation System), c robot ha.
Im mu cht nht phn bit FMS vi h thng sn xut
cng (Fixed Manufacturing System) l ch FMS c kh nng
thch ng vi s thay i i tng sn xut m khng cn s
can thip ca con ngi. S tch hp h thng thit b phn cng
(h thng sn xut linh hot, mng truyn thng, h my tnh v
thit b ngoi vi) v phn mm (h iu hnh, h CSDL, cc
phn mm chc nng), cho php thc hin t ng v trn vn
mi giai on ca qu trnh sn xut (t thit k, chun b cng
ngh, iu khin sn xut, gim st cht lng, bao gi, thng
k,) hnh thnh h thng sn xut tch hp nh my tnh
(Computer Integrated Manufacturing-CIM).

Theo OCT 26228-85, FMS c nh ngha nh sau:

H thng sn xut linh hot l t hp gia h thng cng

ngh (cc my iu khin s, cc thit b cng ngh n
l,) v h thng m bo cc chc nng lm vic t ng
ca h thng, c kh nng t iu chnh thch ng vi s
thay i bt k i tng sn xut trong danh mc.

H thng m bo chc nng gm c cc h thng t

ng ha thit k sn phm, chun b cng ngh, vn
chuyn i tng, m bo dng c, gim st cht lng,
thu v chuyn phoi, iu khin.

Mt FMS c th l mt dy chuyn sn xut linh hot,

mt cng on sn xut linh hot, mt phn xng sn xut
linh hot. N cng c hnh thnh t cc t bo sn xut
linh hot (Fixed Manufacturing Cell - FMC).

V d sau gip so snh gia mt t hp sn xut robot ha thng thng v mt t

hp sn xut linh hot.
T bo sn xut t ng ha thng thng
Trn hnh 7.11 l s t bo sn xut t ng ha hn u ni ln bng mch
in t. Cc thit b trong h thng gm: 1- b iu khin robot; 2- bng ti np
bng mch; 3- b logic kh trnh (PLC); 4- cho quay; 5- b iu khin nhit ; 6g hn; 7- robot; 8- bng ti cho sn phm tt; 9- bng ti cho sn phm hng;
10- bn kim tra; 11- my tnh (PC) c card giao din v chng trnh iu khin
thit b kim tra.
Qu trnh lm vic ca t bo c 2 giai on:
Giai on 1: Bng mch c s c chuyn vo nh bng ti 2. Bng g t cui
bng ti, c iu khin bi PLC 3 nh hng bng mch robot c th nht
c. Robot 7 chuyn bng mch t bng ti ln bn g hn 6. Cc u ni c
cha trong cho quay 4. Cng nh s iu khin ca PLC 3, cc u ni c tch
ring v nh hng u ra ca cho. Robot 1 nht u ni, t vo ng v tr quy
nh trn bng c s t trc ln bn g hn. M hn thic, c b phn n nhit
t ng, hn chc u ni vo bng mch.
Giai on 2: (s logic trn hnh 7.12). Robot chuyn bng mch c hn
u ni t g hn 6 ln bn ca thit b th 10. Qu trnh th c iu khin bng
my tnh 11. Kt qu th (tt hay hng) c chuyn n robot. Tu theo kt qu
nhn c, robot s chuyn sn phm ti bng ti tng ng. Trong trng hp ny,
robot khng ch lm nhim v vn chuyn m cn gi vai tr iu khin trung tm.
Cc b iu khin khc khng lin h trc tip vi nhau m qua b iu khin ca
robotot.

Ton b chu trnh gm 6 bc:

1. Robot ch tn hiu t PLC, bo bng mch sn sng trn bng
g ca bng ti. Nu c tn hiu th robot nhc bng mch ln, bo
cho PLC bit v t bng mch ln g hn.
2. Lp li cng vic nh bc 1, nhng vi i tng l u ni.
3. Nu b iu khin hn KHNG bo hiu nhit OK th robot
ch cho m hn c t nng. Nu c tn hiu nhit OK th
robot tc ng ln c cu kp ca my hn. Na giy sau (ch kp
xong), robot tc ng ln c cu nng cho m hn (c thic) tip
xc vi cc chn ca u ni. Ch 5 giy cho qu trnh hn hon
thnh, robot iu khin cc c cu h m hn, tho kp, chuyn
bng mch sang thit b th.
4. Robot pht tn hiu, bo cho bit thit b th c bng mch v
ch kt qu.
5. Robot c kt qu th. Nu ON th chuyn bng mch sang
bng ti ca sn phm tt. Nu OFF th chuyn sang pha sn
phm hng.
6. Robot bo cho thit b th bit l bng mch c ly i

T bo sn xut linh hot

c th nhn bit i tng gia cng v t quyt nh gii php
cng ngh tng ng, so vi t bo t ng ha thng thng va m
t phn trn, FMC trn hnh 7.13 c thm b phn sau: thit b c
m vch 1 nhn bit i tng gia cng; b iu khin chung ca 2
t bo phi hp cc thit b; cc cho quay 4 cha ln ln tt c cc
loi u ni. So vi h TH thng thng, qu trnh lm vic ca n
c cc c im sau:
1. T bo c th nhn mt s bng mch khc nhau. Cc bng mch
c a vo t bng ti mt cch ngu nhin. Thit b c m vch
c nhim v nhn dng loi bng mch. N s bo cho b iu
khin trung tm bit m ca bng mch. B iu khin trung tm s
yu cu cc b iu khin khc thc hin cc chng trnh tng ng.
Do
2. u ni c chn chnh xc t cho tng ng hn,
3. M hn c a ng v tr ca u ni trn bng mch,
4. My tnh iu khin trm th theo ng chng trnh kim tra ph
hp tng bng mch.
FMC c th ni ghp v lm vic trong FMS, b iu khin t
bo cn c ni vi b iu khin h thng (gi l Plant Controller).
Khi , loi bng mch c th do plant controller ch nh nn khng
cn c thit b c m vch trn cc t bo na.

7.3. Phng php tnh kinh t khi s dng robot cng nghip
7.3.1. Xc nh nhu cu s dng robot

S lng robot phc v cho mt h thng sn xut ph thuc s

thit b cng ngh chnh m chng phc v. V vy, trc ht phi
tnh s lng thit b cng ngh chnh hon thnh nhim v sn
xut.

S thit b kiu r c tnh theo cng thc:

Sr

T
N
lc
.
i
i
i 1
60Fo

Trong :
Tlc.i- thi gian hon thnh mt sn phm th I trn nhm thit b
r (ph)
Ni- s lng sn phm th I cn c hon thnh trong 1 nm;
n- s loi sn phm c hon thnh trn nhm thit b kiu r;
Fo- qu thi gian hot ng ca nhm thit b th r trong 1 nm
(gi).

 Khi tnh s lng robot phc v cho tng nhm my, cn

tnh n kh nng phc v nhiu loi my khc nhau. iu
kin mt robot c th phc v nhiu loi my khc nhau.
iu kin mt robot c th phc v nhiu my l s
tng t v kt cu, tnh cht vt l ca cc chi tit
khng c qu nh, v d . Vi cc iu kin , s lng
robot cn thit phc v cc nhm thit b xc nh l:

S
R
k nm
Trong :
S- s thit b cng ngh cn c phc v;
knm- h s phc v nhiu my ca robot, khng nn chn
qu 4

7.3.2. Tnh ton hiu qu kinh t

Hiu qu kinh t ca vic trang b robot c tnh nh

mi trng hp u t c bn.

Ch tiu kinh t quan trng nht l hiu qu kinh t quy

i:

Ko
K
H C o C (G o
) (G )
Tlc
Tlc

Trong :
H- hiu qu kinh t hng nm nh trang b robot;
C, Co- chi ph quy i khi s dng v khng s dng robot;
G, Go- tng chi ph thng xuyn sn xut lng sn
phm hng nm khi s dng v khng s dng robot;
K, Ko- u t c bn khi s dng v khng s dng robot;
Tlc- thi hn thu hi vn tiu chun (nm).

Vic s dng robot ch c hiu qu nu H > 0.

Ch tiu kinh t th hai l thi hn thu hi vn
u t. Vic xc nh n xut pht t iu kin, tng
tit kim do gim chi ph sn xut trong T nm phi
ln hn hoc bng vn u t thm do trang b
robot:
(G o G )T K K o
T y ta rt ra iu kin trang b robot l:
K Ko
T Tlc
Go G