TRNG I HC K THUT CNG NGHIP

KHOA IN T
B mn: o lng v iu khin T ng
N!"N H#N! $"% H&I THI K'T TH($ H)$ *H+N
H)$ *H+N: ,OBOT -# I.% KHI/N $H%0/N 1N!
23 T4N $H56
DUNG CHO AO TO BC I HC THEO HC CH TIN CH
CHUYN NGANH: IEU KHIEN TU ONG, K THUT IN TU, TIN HC

THAI NGUYN - 7/2007
T,78N! 9I H)$
K: TH%;T $<N! N!HI*
KHOA IN T
B mn: o lng = KT
CONG HOA X HOI CHU NGHA VIT NAM
OC LP TU DO HNH PHUC
Thi nguyn ngy 20 thng 7 nm 2007
N!"N H#N! $"% H&I THI
,OBOT -# I.% KHI/N $H%0/N 1N!
>? @Ang Bho hC Di hEB FhGo BHB BhuIJn ngnh: iu khin F ngK kL
FhuMF iCn F?K Fin hEB
1.NOI DUNG ANH GIA THI KT THUC HC PHAN:
Sinh vin nm duoc cac cu truc robot va diu khin chuyn dng tay
may. ng hoc va dng luc hoc robot. Cac b phn truyn dng secvo va cam
bin. Thut toan diu khin robot theo qui dao dt.
2. PHONG PHAP ANH GIA
Thi kt thuc hoc phn la thi vit voi thoi luong 90 phut, chm dim theo
thang dim 10.
3. NGUYN TAC TO HOP E THI
Mi d thi co 3 cu hoi
Mi d thi duoc t hop tu 2 cu hoi (Phn: 4.1; 4.2) va 1 cu hoi (Phn
4.3)
4. NGN HANG CU HOI
4.1. CU HOI LOI 1 (3 IEM)
1.Trinh bay chuc nng nhim vu cua cac b phn cu thanh mt robot cng
nghip nghia cua ma trn thun nht 4

4 duoc s ung trong nghin cuu

robot
2.Trinh by cach thit lp khung toa d di voi 2 khu dng lin tip theo b
thng s DH. Xy ung ma trn A
i
biu in mi quan h gia h toa d i so voi
h toa d i-1 (m hinh DH).
3.im A trong khng gian duoc biu in bi vc t dim 1 1 2 1
T
ch
chuyn tnh tin dim A di mt vc t p 1 1 2 1
T
sau do tip tuc quay
dim d bin di quanh truc y mt goc 90
0
Hy ac dnh vc t biu in dim A
sau hai php bin di.
4.Xac dnh ma trn bin di thun nht biu in cac php bin di sau:
A T
p
( 0 0 1 )R( 90
0
)R(y 90
0
)
.Xac dnh ma trn bin di thun nht biu in cac php bin di sau:

A T
p
( 0 1 0 )R( 90
0
)R( 90
0
)
.Tim ma trn :
R R( k ) Bit k
1
3
( 1 1 1 )
T
90
0
7.Tim ma trn :
R R( k ) Bit k
1
3
( 1 1 1 )
T
-90
0
.Xac dnh cac goc quay Euler khi bit ma trn :
R(

)
1 0 0 0
0 0 1 0
0 1 0 0
0 0 0 1






9.Xac dnh cac goc quay RPY khi bit ma trn :
RPY(

)
1 0 0 0
0 0 1 0
0 1 0 0
0 0 0 1






10.Tim cac phn t danh u hoi trong ma trn biu in huong va v tr cua
khu chp hanh cui sau:
T

0 1 0
0 0 1
1 0 2
0 0 1






4.2. CU HOI LOI 2 (3 IEM)
1.Xy ung khung toa d cho cac
thanh ni. Xac dnh ma trn biu in
h toa d dim cui E cua canh tay
Robot.
2.Thit lp khung toa d cho cac thanh
ni. Xy ung h phung trinh dng
hoc thun biu in mi quan h toa d
tay robot va toa d cac khop.
3.Thit lp cac h toa d cho Robot.
Xy ung h phung trinh dng hoc
thun biu in mi quan h gia toa
d tay Robot va toa d cac khop:
4.Xy ung khung toa d cho cac
thanh ni. Xac dnh ma trn biu in
h toa d dim cui E cua canh tay
Robot.

.Thit lp cac h toa d cho Robot.
Xy ung h phung trinh dng hoc
thun biu in mi quan h gia toa
d tay Robot va toa d cac khop.
E
E
E
E

0
y
0

2

l
1

l
2

0
y
0

2

l
1

l
2

0
y
0
1,
5
0,
5
1 2
Q
A
E
1,2
2
2,2
5
P
0
s
1
(t
)

1
(t)
P
a
s
1
(t)

l
1

0
P
0
k
O
0
l
1
/2
y
0
E
0

1
((t)
E

0
P
s(t)

E
A

1
(t)

2
(t)
y

B A
E
1
3
2
4

O
o

0
y
0

E
P
s(t)
1m/s
2m/s
a
l
1
E
0
k

1
(t)

a
s
1
(t)
E
P
0
y
0
O
0
P
4
0
13
0
y
B
A

1
(t
)

2
(t
)
E
l
1
l
2

0.3
0.7

1
(t)

2
(t)
A
E
B
y

l
1
l
2
0.3
0.7
E
0
E

s
1
(t)
P
y
0
P
0
a

1
(t)
O
0
l
1
k
l
1
/2
h
O
0

0
y
0
P

E
0
E
a
s
1
(t)
P
0
k
h
1

12. Mt tay may lam nhim vu nhc vt

th P ra khoi bng truyn tai dim .
im tac dng cui E cua tay may co v
tr ban du tai E
0
chuyn dng theo
phung song song voi O
0

0
d dn gp
vt th P tai thi ung lai, cng thoi gian
do thi mt vt th P voi v tr ut phat
ban du tu P
0
nm trn bng tai chuyn
dng du voi vn tc v 0,1m/s theo
phung song song O
0
y
0
toi gp tm ban
kp cua tay may E tai .
a). Xac dinh goc quay 1(t) cua khop quay
va qung duong s
1
(t) cua khop tnh tin, sao
cho tm ban kep (E) gp vt th P tai .
Bit: h 300mm; k 400mm; a 10mm
b). Xy ung s d khi diu khin mt khop
dng s ung dng c mt chiu kch tu dc
lp voi 2 mach vng phan hi v tr va tc d.
TH<N! N%A B1 O<N
T,7PN! B1 O<N
TH<N! N%A H1I QN!
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