ISSN 1859-1831 - TAP CHI KHOA HOC VA CONG NGHE, DAI HOC DA NANG, VOL. 18, NO. 3, 2020 59 Robot Detta néiriéng va robot eéng nghigp néi chung luge sir dung ngdy cang nhibu trong cde nha may, day chuyen jan xuat ty dong dé thay thé con nguéi, Ching duoc ding cho de ting dung gp thd tbc d® cao nhu lép rap. phan foal san dm... Voi nihu cau tit kigm vat igu va chi phi trong qua tinh thiét Ké va ché teo nfuung van dam bio duugc cc ks ning lam ec oa robot niu d3 cirng va do bén, vide sir dung phurong php th uu hoa hinh hoe treng thet ke l& més gli phap the gat quyet in dé trén. Bai bao trinh bay vé qué trinh nghién cir, ing dung gfsrong phd 16 zu hap hnh hoe a it mt pinch cann \y robot Delta. San phém durge that ké ai cd khdi rong nhe hon, dn it vat liéu hon nhung van dam bao duge dac tinh co khi va kha ning lam vige ah yéu o3u ‘Thr khéa - Téi vu héa hinh hoe; robot Delta: tai thiét ké Q 7 Ez way, Robot Delta dang duge ép dung rong ri tubng nhiéu linh vue y hoe, quan se, m6 phéng. san xuit cdng nghiép va duge biét dén 1a robot gap - tha cé téc 46 raf nhanb. Day la logi robot song song duge phait minh bai Reymond Clavel [1] voi nhiéu uu diém vot trdi so véi cic lopi robot dang chudi trayén thong nhu: D6 cimg vimg lén, kia nang chiu tai cao... Phuong php t6i uu héa hinh hgc 1a phuong phap toan hoc 48}06i uu héa vat ligu trong khéng gian thiét ke voi tai trong chp tmrdc, digu kign bién va ring bude. Uu diém ciia phurong phiip nay 1a chiing ta cé thé thiét ké bat ky hin dang nao trong ig gian thiet ké, thay vi xtr ly ede edu hinh duroc xac dinh Voi vige sit dung phuong php t6i wu héa hinh hoc, ching ta c6 thé tao ra duge cic chi tiét c6 khoi lgng nh¢ hon do|da cat giam dugc Iugng vat ligu sir dung. Nho d6, c6 thé tie{ kiém durge chi phi vé vat ligu trong qua trinh ché tao. Hon . vige sir dung it vat ligu hon s€ g6p phin giam thiéu 6 Em mdi tnr’mg do lugng cacbon ticu thu gi trong béi dit nude huéng t6i mot nén sin xudt xanh, 'Da co nhieu nghién ctu vé phuong phip toi wu hoa hinh, hog [2-4] cing nhur mg dung phong phap nay cho céc bai toap thy té, nhur thiét ké lai hinh ding cita cdc chi tiét trong nginh hang khong [5], [6] hoe cae chi tiét ky thuat hing ngay nhu chiéc cd-Ié [7]. Doi vai thiét ké robot, phurong phap 16i wu hoa hinh hoc da duge sir dung trong thigt ke ciclrobot cé hinh ding con ngudi (8). [9]. Tuy nhién, hign nay] chwa ¢6 nhieu nghién ciru str dung phuong phap t6i mu hog hinh hye trén robot Delta ¥6i mong mudn tgo ra m6t m6 hinh robot Delta méi phuk vu trong giing day va nghién ciru cing cée wnt diém UNG DUNG PHUONG PHAP TOI UU HOA HINH HQC DE TAI THIET KE CANH TAY TREN CUA ROBOT DELTA REDESIGNING UPPER ARM OF DELTA ROBOT USING TOPOLOGY OPTIMIZATION METHOD Tran Thanh Hai Tudn, Vo Nhw Thanh, Lé Hoai Nam, Nguyén Dinh Son Trwéng Dai hoc Bach khoa tut.udn.vn, vathanhi@dut.udn.vn, lehoainam@dut.udn.vn, ndson@ dut.udn.vn Dai hoc Da Ning: ‘Abstract - Robots in general and Delta robot in particular are used more and more in factories and automatic production lines. Delta ‘obot is a kind of parallel robot with many advantages: fast-moving speed, great productivity. The ime requirements for product design ‘and manufacturing must be reduced and shortened in the context of global economic integration. In particular, the quality and price of products are two important factors that determine the success of @ product designed on the market. Therefore, product designers always seek to design products using as few materials as possible, but the durability and mechanical properties of the products are guaranteed. Therefore, using topology optimization method in design is an approach that can support designers, An application of topology optimization method to redesign a part of the Delta ‘obot arm is presented in this paper. The redesigned partis lighter, ‘consumes less material but stl ensures its mechanical properties. Key words - Topology optimization; Delta robot; redesign noi bat cia phuong php t6i wu héa hinh hoc trong thiét ké. bai béo may trinh bay qua trinh img dung phuong phdp toi uu hod hinh hoc dé tai thiét ké mét phan canh tay robot Delta hign dang duge phat wrién tai Khoa Co khi ~ Truémg Bai hoc Bach khoa ~ Dai hoc Ba Nang [10], [1] 2. Qua trinh tai thiét ké ‘Trinh ty tai thiét ké chi tiét str dung phuong phdp t6i ru hhéa inh hoc duge thé hign 6 Hinh 1 (Crit ban dh —— [Pha tick cae pga chu tic dung Ién chi iét T oer “Xe dink khang gian Vela ch aéraen chit ke phin mém CAD ‘Chay thi wen phi ~ = sta) ~~ Co Hinh 1. Trinh ne rdi thir ké mt chi ride sit dung phucomg php {6/121 a hinh hoe # Tir file thiét ké ban dau ctia chi ti cc yéu edu tée dung len chi chi tiet, luc tic dung len chi + Xi dinh ving khong ta sé gidm tdi da sy phin bo vat ligu nhumg van dam bao yéu cdu vé co tinh cia chi * Sau khi tim duge cde gid tri lye thiét yéu tae dung len chi tiét, chiing ta s@ chay két qua t6i wu héa trén phan mem ching ta phan tich Cac bé mat chire ning cia cg© ‘Tran Thanh Hai Tudn, Vo Nhu Thanh, L@ Hoai Nam, Nguyén Binh Son sit dung phuong phap phan tir hau han véi rang budc theo vyéu cau thiét ke. Tir két qua t6i wu hoa, ching ta sé kiém tra lai cic rang bude vé tig suit, do chuyén vi, kha nang chiu lve. cata chi tidt mei, Néu két qua dam bao cic diéu kign theo yéu cau thi vé Iai chi tiét bing phan mnéin CAD vi bé mat chi tit cua ket qua thu durge twong di 26 ehé do qué trinh roi rac héa cua phuong php phan wr hifu han. © Sau khi thiét ké lai, ta sé co chi tiét mdi voi hinh dang hinh hoe durge t6i wu nhumg vin dim bio duge kha ning Jam viée nh chi tiét ban dau. 3. Tai thiét ké canh tay trén ciia robot Delta Dé minh hoa cho phuong phap trén, phan nay trinh bay vie img dung phuong phap t6i wu héa hinh hoc dé giam long vat ligu str dung trong qua trinh ché tao canh tay trén iia robot Delta. Mé hinh dong hoc cing nb thiét ké 3D ciia robot duge bigu dién & Hinh 2 [10), [11]. ¥ net théng s6 hinh hoc dugc tom tat trong Bang | Tina ene ‘Tam dé cé dink ‘Cank tay trén ‘Tim dé di Gong inh 2. inh dng hoe fa vr thiéské 3D (b) robot Delia Bang I. ¥ngita cic thong 6 hinh hoc cia robot Delta Ki higu ¥ nghia 2_|tidin nd gia Kha bi va tim| ‘Sp_chigu dai canh tam gide du tim dé e6 dink We _|khoang cach tr tim O én canh cia tim dé 06 dinh ‘Up _[kdhodng cach tir tam O dén dinh cia tam dé 6 dinh Sp_[ehitu dit canh tam gi du tim dé di dong W»_[khoing cich wi tim P dn canh cia tim dé di dong lkhodng céch tir tim P dén dinh P, (i ldé di done. 2,3) cua tim L_Jehiéu dai cinh tay B.A, (i = 1,2,3) 1 |chigu dai cia méi khéu bi dan ‘A_[ehidu rong cia mdi khdw bi din Chi tidt ding dé tai thiét ké 14 khau phat dong (canh tay trén), ndi gitta tim dé cé dinh va khau bi din (cénh tay dudi). Hinh dang cia chi tiet duge thé hign 6 Hinh 3, Hinh 3. Hinh dang ban din cxia chi tiét 3.1. Phan tich hee tie dung lén chi tiét G phan nay, nhom tic gid sit dung phuong php tach vat dé tién hanh giai phéng cdc lién két gitta cic khiu trong robot Delta. Tird6, xc dinh durge luc tic dung len chi tigt dang xét Vi vige phn tich dong Iu hoe ita robot Delta tong khong sian ba chigu rat phite tap nén dé don gidn héa, nhém tc gid sir dung md hinh robot Delta trong mat phing nhu Hinh 4. Hink 4. Mé hinh ede cainh tay robot Delta trong mat phing Trong do: tim khép quay B, va By Ly = ba = Iq = L = 0,2m: Chigudaicickhin phat dong; 1, = L = 0,28m: Chiéu dai cdc khdu bj din: Sp = 0,1V3m: Chiéu dai tim dé ¢é dinh: Sp = 0,05V3m: Chiéu dai tam dé di dong: m, =m, =m = 0,5kg: Khoi Ivong khau bj my din. Timg canh tay cita robot sé duge tach rigng 1é dé thyre hign phan tich ye. Timg khdu 6 méi cinh tay s€ durge tich thanh cae vat rigng biét. Luc tic dung lén timg khau gin vGi can tay: Tam dé di dong, khau bj dan, khau phat dong durac thé h ty 7 %, (a) Tim dé di dong (b) Khéw bj dn (e) Khu phat déng Hin 5. Lace téc ching lén cic kha eva enh tay 361Ap dung phuong trinh cin bing lye cho timg khau ta hoe cc he phuong trinh (1), (2) Xp, =0 hae Pp @ Ya, = Pi, + Yo, P, (+ Y%n)eosa—P, 5% Posy, @) a sina, ‘V6i khdu phat dng, dé thugin Ioi cho vige dat Ive trong phan mém 161 mu héa, nhém téc gia tién hinh dai true toa db dé dua ve bai toda dam mot ngam (diém B,), mot wu ty do (diém Ay) durge thé hign trong Hinh 6. tana, Hin 6. Chuvén he toa dé edie Ie tie dung len khdu phe dng Thong dé: Xay» Yay la lye ban du the dung lén khdu phat dong: ¥ 14 lyre sau khi chuyén hé toa d6 tac dung lén khau pllat dong, Khi 6, ta c6 gid tri cia X, ¥ ta: PB yai{ Pathe Bt Yn 2\ sind, ~ tana, cos8, @) P, 1/P,+¥, , +Yn ~2\"cos8, * tana, sind, Tit cdc hé phurong trinh (1), (2), (3), ta cin tim cde g6c 0,Wa a, dé |X|, |P| 1dn nhdt. Bang phuong phap vector, ta thy} duge he phurong trinh (4), Se fis + Leos, +2 Ising, +Lsin@, =0 Bai toan tré thanh bai toan nde tigu (5). @ uu héa eye dai voi him. P, bay ai{ Patt Bt% max (1a) = 5 sin@, tana, cos0, 5) p ( 4.0.) <2 Pat Yo +p, max (rm) = 5 cos6, — tana, sind, fc& gua ia bai toiin tdi wu héa nay la 8, = -15° va 9°. Tai vi tri nay thi luc tic dung lén khau phat dong ti ahd 3.2) Téi wu héa hinh koe chi tiét (Chi tiét ban diu dure m6 hinh héa dudi dang khdi rin, SSN 1859-1531 - TAP CHI KHOA HOC VA CONG NGHE, DA! HOG DA NANG, VOL. 18, NO. 3, 2020, 61 4 sign hah tb au da cin pha wich rigng ra hai phin riéng bigt 1d vung khéng gian thiét ké (ving khéng gian cn t6i uu héa vat ligu) va ving khéng gian khong thiét ké. Vans kh6ng gian thiet ké la ving ma ching ta c6 thé can thigp de thigt ké Tai ma kh6ng lim anh hueng dén kha nang lam viée cia cinh tay. Ngoai ra, cbn c6 cdc bé mat chire ndng la cae bbé mat ding dé lip ri it vit véi tue dong co, duoc thé hign trong Hinh 7. \ Vang khing gian thier ké ‘Vang khing gian kh6ng thigt ké Hin 7. Cac bé mat chive ning. ving Fong gian tide ké vi hing thiét ke Muc tien duge dat ra li Khoi lrgng cua chi tiét phai duge gidm thiéu (6i da nhung van dam bao chiu duge tai trong lam vige néu sir dung rigng ré timg cin tay dé gip tha la 2 kg Neoai ra, con c6 digu kién rang bude vé ving kim viée cua robot (gid tri cla hai g6c ay va 0:). Gia sir c6 cap gid tri cia hai goc dat durge kha ning ti uu vat ligu t6t nhat, tuy nhién hai gid tr nay lai khong ndm trong ving kam vige cua robot thi nhém tic gia sé chon cap gid tri cho kha nang (6i wu t6t thap hon nhung nam trong ving lam viée cia robot, Céc lye tée dung lén chi tiét va ring bude ngim duge thé hign o Hinh 8 Minh 8, ¥j 11 ctia ede he va ring buge tae ching len chi rds Mot ludi duoc tao nén dé rai rac héa ving khong gian thiét ké, Phén mém Altair SolidThinking Inspire diuge sir dung dé gidm thigu t6i da khéi hong ciia chi tiét, Trong trong hop nay, khoi lung ctia chi tiét giam xAp xi 54%, Két quai duge thé | Hinh 9, Két qué tdi wn hoa 4, Ban luda (Chi tigt 44 161 wu héa cia cénh tay tn robot Delta duce the hign duéi din dang CAD. Tuy nign, ching ta chara thé siz dung tye tiép chi tiét nay dé san xuat boi bé mat Lam62 ‘Tran Thanh Hai Tuén, Vo Nhu Thanh, Lé Hoi Nam, Nguyén Binh Son vige rit gO ghé. Vi vay. nhém tic gia da thiét ké lai mot miu chi tiét méi dyra vao két qua toi wm héa. Sau dé. chi tigt mdi durge phan tich mét lan nita dé kiém tra lai cdc de digm oo khi, duge thé hign 6 Hinh 10 9 a) Trathe kit 16 hoa by Sau kh dee v8 lat dea vaio ke quit i ba Hine 10. So sinh dé chun vj etia chi tiét mice khi tdi wt ha (a) vér sau Ki dtege ve lai dea vo két que ti wu hoa (b) Khéi luomg cia chi tigt sau Khi duge vé lai Ld 0,227 ke va phin tram long vat ligu duoc cit giém so véi trrde Khi 161 uu héa 1a 48.8%, Vi vay. chting ta tiét kigm duge 0,216 kg cho méi chi tiét. Ngodii ra, chting ta c6 thé thay 46 chuyén vi ciia chi tiét sau khi dizge vé lai Ion hon do chuyén vj ciia chi tiét trude khi t6i ww héa khong 2,5 tan, hung gid tri nay 1é rat nhé (6 thang do 0, lnm), Hign nay, & Vigt Nam. néu cd phurong phap gia céng truyén thong nhu CNC durge str dung dé ché tao chi tiét nay thi sé rat t6n thoi gian d€ chun bj dung cu var my méc do hinh ding hinh hoe cia chi vét sau 61 uu phite tap hon so v@i chi tiét ban du. Vi vay, gid thanh ché tao c6 thé cao hon. Tuy nhién, vigestt dung céng nehé gia céng dip lop véi cic cng nghé nhur EBM, SLS, chi phi vé van han may va nhan cng cing s@ duge gim di khi ching ta ¢6 thé ché tao mot tic nhieu chi tiet so vai viée ché tao lin lugt timg chi tiét nlur phuong php CNC. Ngodi ra, vige sit dung cong nghé gia céng dip lép sé gép phan tiét kiém chi phi vé vat ligu trong qua trinh ché tgo do khdng c6 san phim thira Két lun Bai bio tinh bay qua trinh img dung phuong phap thiét é sir dung t6i ru héa hinh hgc dé gitip neu thigt ké c6 thé (BBT nhein baic 15/01/2020, hodin tt tha tue phan bign: 20/3/2 cai tién sin phim trong qué tinh thiét ké. Purong php cho phép t6i uu sue phan bo vat ligu va gidim khdi Iuong v4t ligu sir dung nhumg van dam bao cdc dc tinh corhgc cua chi tiet. Motnghién citu dién hinh fa cénh tay trén cia robot Delta 43 duc trinh bay trong bai bio dé minh hga cho cho phurong phap. Chi mdi da duge loai bo nhimg phan vat ligu khong can thiét nhumg vin dim bio cdc ring bude thiet ke. Tom lai, phuong phép thiét ké véi viée tich hgp toi ‘hoa hinh hoc dang ro thanh huéng tiép can cho cac cong nghé gia cong tién tién nhur cong nghé gia céng dip lop, NO _c6 thé g6p phan tgo ra mot thé hg robot Delta méi e6 khdi trong nhe hon vi giam due quan tinh cua robot trong qui trinh di chuyén. Tir d6, gitip robot hoat déng én dinh va chinh xic hon, THAM KHAO [1] R Clavel. "DELTA, A fist robot with parallel geometry", 180 Intemanoral Symposium on Industral Robot. Lausane, pp. 91-100, 1988, [2] MP. Bendsoe, and O. Sigmund, Topological Optimization, Theory. ‘Methods and Application: Springer Verlag, Berlin, 2004. [3]-M.P.Bendsoe, and ©. Sigmund. “Material interpolation schemes in topology optimization”, Archie of Applied Mechanics, vol 69. no 9.1. 635-654, 1999, [4)_X.¥. Yang, ¥. M. Xie, and G. P. Steven, "Evolutionary methods for ‘topology optimisation of continuous structures with design dependent loads". Compaters & Structures, vl 83, n0. 12, pp. 956-963, 2005, [5] SWB, M, Schone. C.. Stelzer, R Klooden, B., Kirchner. A. Weissgaetber, T. Kieback, B., "Aerospace Case Study on Topology Optimization for Additive Manufacturing", Fraunhofer: Direct Digital Manufacturmg Conference DDMC. 2016. pp. 37-41, 2016. [6] A W Gebisa and HG Lemu, “A case study on topology optimized sign for additive munufacturing". JOP Conference Series: Materials Science and Engineering. vol. 276, Issue 1, 2017, pp. (012026, 2017. [7] Dinh Son Nouyen, Frédéric Vignat, “Topology Optimization as an Innovative Design Method for Additive Manufacturing”, in 2017 IEEE Inverational Conference on Industrial Engieermg and Engineering Management (IEEM), 2017, pp. 304-308, 2017, [8] Kwon W, Kim HK, Park JK. Roh CH, Lee J, Park J, Kim WK, Roh KK, “Biped humanoid robot Maru IL". 7th IBEE-RAS intemattonal conference on humanoid robots, pp $83-S88, 2007. [9] Lohmeier $, Buschmann T, Ulbrich H, "Humanoid robot LOLA” IEEE Inwernational Conference on Roboties and Automation. pp 775-780. 2009, [10} Hoai Nam Le and Xuan Hoang Le, “Geometrical Design of a RU Type Delta Robot Based on the Predescribed Workspace”, 2018 4 Intemational Conference on Green Technology and Sustainable Development (GISD). 2018, pp. 359-364, 2018 [11) Lé Xun Hoang, LE Hoai Nam, “Bai tein dng hoc, ding hve hoe va plug phip thie ké hinh hoe cho obot Delta ki ba kp quay”, Zap ‘chi Khoa oe vr Céng neh - Ba hoe Da Nag. So 132) 2018, Quyén 1.2018, tang 36, 2018, 020)