Gii thiu v Robot Scara

1
Bi ton ng hc thun
2
M phng
3
4
TM TT NI DUNG
Bi ton ng hc ngc
Gii thiu
Gii thiu
Robot SCARA ra i vo nm 1979 ti trng i hc Yamanashi
(Nht Bn) l mt kiu robot mi nhm p ng s a dng ca cc
qu trnh sn xut
Tn gi SCARA l vit tt ca Selective Compliant Articulated
Robot Arm Tay my mm do ty .
Ba khp u tin ca kiu robot ny c cu hnh R.R.T, cc trc khp
u theo phng thng ng
Bi ton ng hc thun
Bng thng s D H
ca robot SCARA
Khu d a
1
1
* H L
1
0
2
2
* 0 L
2

3 0 d
3
* 0 0
4
4
* d
4
0 0
Cc h ta
Bi ton ng hc thun
Xc nh cc ma trn chuyn v thnh phn m t v tr ca
khu th i so vi khu th i-1:
Ma trn chuyn v thnh phn c dng tng qut:
(
(
(
(

1 0 0 0
cos sin 0
sin sin cos cos cos sin
cos sin sin cos sin cos
i i i
i i i i i i i
i i i i i i i
d
a
a
o o
u o u o u u
u o u o u u

Vi qui c vit tt
C
1
= cos
1
; S
1
= sin
1
; C
2
= cos
2
, S
2
= sin
2
,
C
12
= cos(
1+

2
), S
12
= sin(
1+

2
),
Bi ton ng hc thun
Ma trn m t v tr v hng ca khu 1 so vi khu 0
Ma trn m t v tr v hng ca khu 2 so vi khu 1
1 1 1 1
1 1 1 1
1
0
0
0 0 1
0 0 0 1
C S LC
S C L S
H
H

(
(
(
=
(
(

2 2 2 2
2 2 2 2
2
0
0
0 0 1 0
0 0 0 1
C S L C
S C L S
H
(
(

(
=
(
(

(1.1)
(1.2)
Bi ton ng hc thun
Ma trn m t v tr v hng ca khu 3 so vi khu 2
Ma trn m t v tr v hng ca khu 4 so vi khu 3
3
3
1 0 0 0
0 1 0 0
0 0 1
0 0 0 1
H
d
(
(
(
=
(
(

4 4
4 4
4
4
0 0
0 0
0 0 1
0 0 0 1
C S
S C
H
d

(
(
(
=
(
(

(1.3)
(1.4)
Bi ton ng hc thun
Xc nh ma trn chuyn v thun nht m t hng v v tr
ca khu 4 so vi khu c s (khu ):
12 12 1 1 2 12
12 12 1 1 2 12
2 1 2
0
0
.
0 0 1
0 0 0 1
C S LC L C
S C L S L S
D H H
H
+
(
(
+
(
= =
(
(

12 12 1 1 2 12
12 12 1 1 2 12
3 1 2 3
3
0
0
. .
0 0 1
0 0 0 1
C S LC L C
S C L S L S
D H H H
d H
+
(
(
+
(
= =
( +
(

(1.6)
(1.5)
Bi ton ng hc thun
12 4 12 4 12 4 12 4 1 1 2 12
12 4 12 4 12 4 12 4 1 1 2 12
4 1 2 3 4
3 4
0
0
. . .
0 0 1
0 0 0 1
C C S S C S S C LC L C
S C C S C C S S L S L S
D H H H H
H d d
+ + +
(
(
+
(
= =
(

(

Vy, ta im E c dng:
(0)
1 1 2 12 E
x LC L C = +
(0)
1 1 2 12 E
y L S L S = +
(0)
3 4 E
z H d d =
(1.7)
Bi ton ng hc thun
Khu cng tc ca Robot c phng trnh ng hc c bn
dng:
0 0 0 1
x x x x
y y y y
E
z z z z
n s a p
n s a p
D
n s a p
(
(
(
=
(
(

Ta c: D
E
= D
4
, suy ra:
12 4 12 4 12 4 12 4 1 1 2 12
12 4 12 4 12 4 12 4 1 1 2 12
3 4
0
0
0 0 1
0 0 0 1 0 0 0 1
x x x x
y y y y
z z z z
n s a p C C S S C S S C LC L C
n s a p S C C S C C S S L S L S
n s a p H d d
+ + +
( (
( (
+
( (
=
( (
( (

(1.8)
H phng trnh ng hc
Bi ton ng hc thun
So snh cc phn t tng ng ca cc ma trn 2 v, ta c h
phng trnh ng hc:
12 4 12 4
12 4 12 4
12 4 12 4
12 4 12 4
1 1 2 12
1 1 2 12
3 4
;
;
0;
;
;
0;
0;
0;
1;
;
;
( ).
x
y
z
x
y
z
x
y
z
x
y
z
n C C S S
n S C C S
n
s C S S C
s C C S S
s
a
a
a
p LC L C
p L S L S
p H d d
= +

= +

= +

= +

= +

(1.9)
Bi ton ng hc ngc
BI TON NG HC NGC
ng hc ngc robot SCARA nhn c thng qua vic tm
nghim ca phng trnh
12 4 12 4 12 4 12 4 1 1 2 12
12 4 12 4 12 4 12 4 1 1 2 12
3 4
0
0
0 0 1 0 1
0 0 0 1
C C S S C S S C LC L C
S C C S C C S S L S L S A p
H d d
+ + +
(
(
+
(
(
=
(
(

(

Trong : A l ma trn cosin ch hng ca vt
11 12 13
21 22 23
31 32 33
r r r
A r r r
r r r
(
(
=
(
(

(2.1)
O = [x
v
y
v
z
v
]
T
l ta ca khu cng tc
Bi ton ng hc ngc
Thc t, ta d dng nhn thy rng phng trnh 2.1 ch c th gii
c khi A c dng
0
0
0 0 1
C S
A S C
o o
o o
(
(
=
(
(

(2.2)
Khi ta c:
1
+
2
-
4
= = atan2( r
12
, r
11
) (2.3)
Bi ton ng hc ngc
z
o

y
o

x
o

p
y

p
z

p
x

r
L
1

H
L
2

2

O
0



Hnh 2.1
Bi ton ng hc ngc
Chiu v tr ca tay my ln mt phng Ox
0
y
0
( nh hnh 2.1) ta c :

1
= = atan2( y
v
, x
v
) atan2( L
2
.S
2 ,
L
1
+ L
2
.C
2
)
T (2.3) ta suy ra:
4
=
1
+
2
- =
1
+
2
atan2( r
12
, r
11
)
Cui cng d
3
c xc nh bng cng thc : d
3
= H (z
v
+ d
4
)
(2.4)
(2.5)
(2.6)
(2.7)
Bi ton ng hc ngc
T cc phng trnh (2.4) ,(2.5),(2.6),(2.7) ta c cc b nghim
( )
( )
( )
2 2 2 2
2
1 2
2 2 2 2
1 2
1 2 2, 1 2 2
4 1 2 12 11
3 v 4
atan2( 1 , )
2. .
atan2 , atan2 . .
atan2( , )
d H z d
v v
v v
x y L L
C C C
L L
y x L S L L C
r r
u
u |
u u u
| |
+
= =
|
\ .
= O = +
= +
= +
(2.8)
M Phng
XY DNG QUY AO CHUYN NG CUA TAY KEP

gp c vt, 2 m ca tay kep phi kep vo
cnh nho ca vt. T h ta t ln tay kep
O
4
x
4
y
4
z
4
ta c h ta t trn vt nh hnh ve:
Quy o di chyn ca
vt trong mt phng
O
0
x
0
y
0
nh sau:
M Phng
Trong qu trnh vt di chuyn, hng ca
vt thay i theo hnh 2.3
O
0
x
0

y
0

z
0

z
v

O
v

x
v

y
v


Hnh 2.4
Hnh 2.3
H ta ca vt trong
khng gian th hin trn
hnh 2.4
M Phng
100

= 0 100;
0
= ;
100
=

+1
= 1,8
0
. = 90
0
+1,8
0
.
Ta ca vt trong mt phng O
0
x
0
y
0
l: x
v
= x
A
+ R.cos
y
v
= y
A
+ R.sin
Ma trn cosin chi hng ca vt so vi h ta c nh O
0
x
0
y
0
z
0.

Ta nhn thy, quay h quy chiu O
0
sang h quy chiu O
v
ta cn thc
hin 2 chuyn ng : 1/ Quay quanh trc z
0
theo chiu dng mt gc
2/ Quay quanh trc x
0
theo chiu dng mt gc 180
0

Nh vy, ma trn cosin ch hng ca vt l
os sin 0 1 0 0 cos sin 0
sin cos 0 0 1 0 sin cos 0
0 0 1 0 0 1 0 0 1
c
A

( ( (
( ( (
= =
( ( (
( ( (


M Phng
Nh vy, ta c ma trn bin i thun nht ca vt l :
os sin 0 cos
sin cos 0 sin
0 0 1
0 0 0 1
A
A
v
c x R
y R
z


+
(
(
+
(
(
(

Thay = -90
0
+ 1,8
0
.i ;r
11
=cos ; r
12
= sin ; x
v
= x
A
+ R.cos;
x
v
= x
A
+ R.cos; vo (2.8) ta c:
( ) ( )
0 0
2 2 2 2
1 2
2
1 2
2
2 2 2
1 2 2, 1 2 2
4 1 2
3 v
90 1,8 .i ( i=0 100)
( . os ) ( .sin )
2. .
atan2( 1 , )
atan2 .sin , . os atan2 . .
atan2( sin , os )
d H z
A A
A A
x Rc y R L L
C
L L
C C
y R x Rc L S L L C
c

u
u |
u u u
= +
+ + +
=
=
= O = + + +
= +
= +
( )
4
d