BI TP CHNG MN ROBOT CNG NGHIP

Cho m hnh robot:

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

(17)

(18)

(19)

(20)

(21)

(22)

(23)

(24)

(25)

(26)

(27)

(28)

(29)

(30)

(31)

(32)

(33)

(34)

(35)

(36)

(37)

(38)

(39)

(40)

(41)

(42)

(43)

(44)

(45)

(46)

(47)

(48)

(49)

(50)

(51)

(52)

1. Tnh bc t do ca robot.
2. M hnh ha robot v dng n gin
3. T t h ta cho robot(gm h ta gn vi gi c nh v h ta gn ti trng tm
mi khu).Vit cc ma trn cosin ch hng tng ng, t tnh vn tc gc, gia tc gc
tng i v tuyt i ca cc khu.
4. Tnh ma trn m men qun tnh i vi mi khu (tham kho ti liu c hc phn ng hc,
ng lc hc)
5. S dng phng php DH gii bi ton ng hc thun cho robot. (Ch th hin cc h
ta trn c bn v 3D v m hnh n gin)
6. Gii bi ton ng hc ngc cho robot. Kho st th bin i ca cc ta suy rng khi
bit qu o im chp hnh cui (i theo mt ng trn ).
7. Vit h phng trnh vi phn ca robot.
8. Gii bi ton ng lc hc ngc vi qu o chuyn ng trn. Kho st th lc pht
ng cho cc khp ch ng.
9. Tm min lm vic ca robot
10. Nu mt vi ng dng ca m hnh robot trn.
Yu cu v trnh by:
1. Bi tp chngc in trn mt mt giy trng kh A4 (210 x 297mm), c mc lc t ng ,
mc lc hnh v, bng biu, th v danh mc ti liu tham kho.
2. Bi tp chng s dng ch Times New Roman c 13 H son tho Winword hoc tng
ng; mt ch bnh thng, khng c nn hoc ko dn khong cch gia cc ch; dn
dng t ch 1,5 lines; l trn 3,5cm; l di 3,0cm; l tri 3,5cm, l phi 2 cm. S trang
c nh gia, pha di trang giy.
3. G cng thc s dng phn mm Mathtype.