TRNG I HC BCH KHOA H NI

TRUNG TM O TO TI NNG V CHT

LNG CAO

BI TIU LUN ROBOTICS

GVHD:
SVTH :
LP :

09/06/2012

PGS.TS.Phan Bi Khi
Nguyn Vn S
Nguyn Minh Trc
KSTN-CT-K53

NI DUNG
Xy dng cu trc v thit lp phng trnh ng hc

Gii bi ton ng hc (ngc v thun)

Tnh ton tnh hc
Tnh ton ng lc hc
Thit k v m phng

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Xy dng cu trc v thit lp phng trnh ng

hc
Gii bi ton ng hc (ngc v thun)

Tnh ton tnh hc

Tnh ton ng lc hc

Thit k v m phng
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XY DNG CU TRC V THIT LP

PHNG TRNH NG HC

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XY DNG CU TRC V THIT LP

PHNG TRNH NG HC

09/06/2012

XY DNG CU TRC V THIT LP

PHNG TRNH NG HC

09/06/2012

XY DNG CU TRC V THIT LP

PHNG TRNH NG HC

CD=

6 phng trnh ng hc

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XY DNG CU TRC V THIT LP

PHNG TRNH NG HC
Kt qu 6 phng trnh ng hc

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Xy dng cu trc v thit lp phng trnh

ng hc
Gii bi ton ng hc (ngc v thun)

Tnh ton tnh hc

Tnh ton ng lc hc

Thit k v m phng
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GII NG HC THUN

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GII NG HC THUN
3 Phng trnh v tr ca im tc ng cui:

Thay kt qu vo ta c:

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GII NG HC THUN

th xp[1]
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th yp[1]
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GII NG HC THUN

th zp[1]
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Qu o im E
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TNH VN TC IM E,VN TC
GC CC KHU

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TNH VN TC IM E,VN TC
GC CC KHU
Vn tc gc tuyt i cc khu thao tc

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TNH VN TC IM E,VN TC
GC CC KHU
Vn tc gc tng i cc khu

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TNH VN TC IM E,VN TC
GC CC KHU
Vn tc im tc ng cui E

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GII BI TON NG HC NGC

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GII BI TON NG HC NGC

6 phng trnh ng hc sau khi thay cc s liu

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GII BI TON NG HC NGC

th theta[1]
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th d[2]
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GII BI TON NG HC NGC

th theta[3]
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Xy dng cu trc v thit lp phng trnh ng

hc
Gii bi ton ng hc (ngc v thun)

Tnh ton tnh hc

Tnh ton ng lc hc

Thit k v m phng
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TNH TON TNH HC

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TNH TON TNH HC

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TNH TON TNH HC

Phn lc cc khp theo th t F[3,2];F[2,1];F[1,0]

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TNH TON TNH HC

Momen phn lc cc khp theo th t M[3,2]; M[2,1];
M[1,0].

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TNH TON TNH HC

Tnh lc dn ng cc khp bo m Robot
cn bng

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Xy dng cu trc v thit lp phng trnh ng

hc
Gii bi ton ng hc (ngc v thun)

Tnh ton tnh hc

Tnh ton ng lc hc

Thit k v m phng
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TNH TON NG LC HC

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TNH TON NG LC HC

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TNH TON NG LC HC

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Xy dng cu trc v thit lp phng trnh

ng hc
Gii bi ton ng hc (ngc v thun)

Tnh ton tnh hc

Tnh ton ng lc hc

Thit k v m phng
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THIT K V M PHNG

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THIT K V M PHNG

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THIT K V M PHNG

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THIT K V M PHNG

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THIT K V M PHNG
M phng bi ton ng hc thun

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THIT K V M PHNG
Kt qu m phng bi ton ng hc thun

Trc X trn Simmechanics

09/06/2012

Trc X tnh ton trn Maple

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THIT K V M PHNG

Trc Y trn Simmechanics

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Trc Y tnh ton trn Maple

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THIT K V M PHNG

Trc Z trn Simmechanics

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Trc Z tnh ton trn Maple

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THIT K V M PHNG

Hnh chiu qu o xung XOY

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Qu o im E trn Maple
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THIT K V M PHNG
M phng bi ton ng hc ngc

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THIT K V M PHNG
Kt qu m phng

th gc quay theta[1]
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th gc quay theta[1] -Maple

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THIT K V M PHNG

th d[2]
09/06/2012

th d[2]-Maple
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THIT K V M PHNG

th gc quay theta[3]
09/06/2012

th gc quay theta[3]-Maple
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THIT K V M PHNG

Qu o c chiu xung mt phng XOY

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THIT K V M PHNG
Vi d v qu o hnh xon c
Ta c phng trnh ca ng

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THIT K V M PHNG
Hnh chiu ca qu o

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THIT K V M PHNG
Qu o chuyn ng ca im tc ng cui
hon ton chnh xc vi qu o thit k ng
trn tm I(450,550) bn knh R=150mm.

Cc th theta[1],d[2],theta[3] c o bng
cc khi Sensor trong Simmechanics ,ta thy
hon ton chnh xc vi tnh ton trn Maple

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TI LIU THAM KHO

Bi ging Robotics-PGS.TS.Phan Bi Khi.
ng lc hc h nhiu vt-GS.TSKH.Nguyn
Vn Khang.
n ng dng Simmechanics vo m phng
cn trc quay ca Lu Vn Hiu K45i hc
Bch Khoa H Ni.
Phn help ca phn mm Maple.
Phn help ca phn mm Matlab.
09/06/2012

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