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  • K Thuât Robot

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    Hau Nguyen
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    Kỹ Thuât Robot

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    1 views494 pages

    K Thuât Robot

    Uploaded by

    Hau Nguyen

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
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    CTocT Coe Uo. WL Xo me SPCC CUCM MMU OWL] GIAO TRINH De aT) PON rae ea ta eRe) BO GIAO DUC VA DAO TAO TRUONG DAI HQC SU’ PHAM KY THUAT THANH PHO HO CHi MINH oeteisksedeioiotetoksed bobo PGS. TS. NGUYEN TRUONG THINH GIAO TRINH KY THUAT ROBOT NHA XUAT BAN DAI HQC QUOC GIA THANH PHO HO CHi MINH — 2014 LOI NOI DAU Trong “Chién luge phat trién khoa hoc va céng nghé Viét Nam‘ luén khang dinh Co di¢n tir 1a mot trong nhitng hu6éng c6ng nghé trong diém phye vy phat trién kinh té xa hoi. Trén thé gidi, Cor dign tr 1a mot trong nhitng linh vy chién luge d6ng vai trd quan trong cia cdc nén kinh té phat trién. K¥ thuat Co dién tir 1a m6t linh vue khoa hoc céng nghé duge hinh thanh tir sy cOng nang cia ba nginh Khoa hgc Cong nghé cha yeu la Co khi, Dign tir va Cong nghé thong tin nham hoan thién, linh hoat héa, théng minh héa eée thiét bj may méc phye vu con ngudi. Va khi nhac dén Co dién tit, ching ta khong thé quén ring robot chinh 1a san pham dic trung cia nganh co dién tir. Trong nhitng nim vira qua cing véi sy Ién manh cia khoa hoc céng nghé, ky thudt robot cing khong ngimg phat trién. Cudn gido trin! nay hy vong gitp cho ngudi yéu thich va quan tim dén robot cé thé hiéu vé robot, biét vé ky thuat robot duge sir dung hién nay trén thé gidi, Cuén gido trinh nay cing khéng co tham vong dua ra tat ca cic kién thite vé robot, ma chi giup cho ngui doc c6 cai nhin toan dién va cu thé cho timg phan cdu tric hinh thanh nén robot. Gido trinh “K¥ Thuat Robot” duge bién soan cho cdc déi tugng hgc vién cao hoe, sinh vién dai hoc ciia cdc trudng Dai hoc Su pham KY thudt, Dai hoc K¥ thuat, cdc trudng Cao ding KY thuat, cdc ky su va gido vién day nghé... Giéo trinh duge chia lim hai tap: Tap 1, gi6i thigu nhimg kién thite co ban va nén tang cia Ky thuat robot; Tap 2, tap trung cdc chuong viét vé cau tric nang cao cia ky thuft robot, phurong phap thi robot céng nghigp, robot bién hinh, robot phéng sinh. Trong cuén giao trinh tp 1 nay gom c6 10 chuong, trinh bay mét cach hé théng céc kién thite vé ky thuat robot ciing nhur robot céng nghiép tir cc phan co ban vé cau trac chung va céc thinh phin céu tao ciia robot, phin tich dng hgc robot cho dén phan phan tich dong hgc van téc, dng hire hoc, phuong php lap quy dao chuyén dong va cae céng nghé tién tién tich hop én robot nhu cdc, cm bién, thj giée may va cée co cdu truyén d6ng va co cau chp hanh cudi. Dé hoan thanh “Gido trinh Ky thuat Robot”, téc gid da lam vige véi mét tinh than trach nhiém cao, song qua trinh bién soan khéng tranh khoi nhitng thiéu sét, mong nhan duge y kién phan hdi tir cdc doc gid dé hoan chinh gido trinh nay trong lan xudt ban tiép theo. Thu gop ¥ xin giri vé BO mén Co dign tir - Khoa Co khi Ché tao May, Truéng Dai hoc Su pham K¥ thuat TP. Hd Chi Minh hodc théng qua dia chi email: thinhnt@hcemute.edu.vn TP. Hé Chi Minh, ngay 2 thang 7 nim 2014 Tae gid PGS. TS. Nguyén Trudng Thinh MUC LUC LOI NOI DAU... MUCLUC.. Chuong 1: GIOI THIEU VE KY THUAT ROBOT... 1.1. GIGI THIEU.. 1,2, PHAN LOAI ROBOT .. 1.2.1. Robot cng nghigp . 1.2.2. Robot dich vu 1,3. UU VA NHUGC DIEM CUA ROBO! 1.3.1. Uu diém. 1.3.2. Nhuge diém 1.4, CAU TRUC CUA MOT HE THONG ROBOT... 1.4.1. Phan cimg.. 1.4.2. Phin mém.. 1,5, TUONG LAI CUA ROBOT . 1.6. KET LUAN... Chong 2: NEN TANG ROBOT... 2.1. GIGI THIEU.. 2.2. CAU TRUC TAY MAY ROBOT...... 2.2.1. Khau.. 2.2.2. Khép 2.2.3. Cac co cdu trong robot ... 2.2.4. Cau tric khéng gian hoat d6ng ... 2.3. CAC THANH PHAN ROBOT. 2.3.2. Tay gap (Co cau cl 2.3.3. Co cdu chap hanh 2.3.4. Cam bién .. 2.4. MOT SO BIEN THE CUA CANH TAY ROBOT... 2.4.1. Robot bic ty do thira (siéu tinh)... 2.4.2. Robot v6i cdc phan tir linh hoat.... 2.4.3. Ban tay robot... 2.5. ROBOT DI BONG 2.5.1. Robot c6 banh xe... 2.5.2. Robot banh xich ... 2.5.3. Robot c6 chan 2.5.4. Robot nhay 2.5.5. Robot rin 2.5.6. Robot di chuyén dui nus 2.5.7. Robot bay .. 2.5.8. Robot treo. 2:4.0 Robot tele iith vscsncssnnseansmmmmnennmnammen TS 2.6. THIET KE HE THONG ROBOT. 2.6.1. Qua trinh thiét ké..... 2.6.2. Dac diém anh hung dén qua trinh thiét ké .. 2.7. KET LUAN.... Chwong 3: BIEU DIEN HUONG VA VI TRE 3.1. GIO THIEU.. 3.2. BIEU DIEN MA TRAN 3.2.1. Biéu dign mét diém trong khong gian bing ma tran... 3.2.2. Biéu dién m6t vector trong khong gian. 3.23. Biéu dign mét hé true toa d6 tai géc hé truc tham chiéu cé dinh.. dign mét hé truc trong hé truc tham chiéu cé dink 3.2.5. Biéu dién mét vat rin... 3.3. MA TRAN CHUYEN VI THUAN NHAT 3.4. BIEU DIEN SU’ CHUYEN VI... 3.4.1, Biéu din sy chuyén dong tinh tién 3.4.2. Ma tran biéu dién sy quay quanh m6t truc.... 3.4.3. Biéu dign sy chuyén vj két hop... 3.5. NGHICH DAO CUA MA TRAN CHUYEN VI 3.6. PHEP QUAY THEO BA GOC EULER. 3.7. PHEP QUAY ROLL-PITCH-Y AW (RPY) Chong 4: BONG HQC ROBOT ..... 4.1. GIGI THIBU.. 4.2. BIEU DIEN DENAVIT — HARTENBERG CUA BAI TOAN DONG HOC ROBOT... 4.3. BONG HQC THUAN .. 4.4. DONG HOC NGHICH.... 4.5. DONG HOC CUA ROBOT 3R TONG QUAT.... 4.6. BONG HOC CO CAU CHAP HANH CUOI.... 4.6.1. Khép cé tay... 4.6.2. Két néi dong hoc .. 4.7. KHONG GIAN KHGP, KHONG GIAN DESCARTES, KHONG GIAN NHIEM VU. 4.7.1. Khong gian khép. 4.7.2. Khéng gian Descart 4.7.3. Khong gian nhigm vu 4.74. Sr suy bién, ky dj va tinh linh hoat (Degeneracy & Dexterity)... e 4.8. KET LUAN.... Chuong 5: JACOBI VA DONG HQC VAN TOC. 5.1. GIGI THIEU 5.2. VAN TOC TRONG HE TRUC DESCARTES VA VAN TOC GO 5.3. MA TRAN JACOBI CUA ROBOT 5.4. VAN TOC DAI CUA CG CAU CHAP HANH CUOI.... 5.4.1, Van téc tao ra do khép quay 5.4.2. Tinh tién van téc trong cdc khép.. 5.5. VAN TOC GOC CUA CO CAU CUO! 5.6. TINH TOAN JACOBI. 5.6.1. Jacobi cita robot 6 khép. see 5.6.2. Jacobi trong nhimg doan cé tay robot .. 5.6.3. Jacobi ciia robot 6 khép trong hé toa 4 Descartes 5.6.4. Ma trin Jacobi trong robot Puma 560... 5.6.5. Biéu dién ma tran Jacobi PHEP TINH VI PHAN TRONG BAI TOAN BONG HOC NGHICH.. a 5.8. HUGNG VA VAN TOC GOC. 5.9. VAN TOC KHAU..... 5.10. BONG HOC VAN TOC NGHICH 5.11. TOM TAT... 5.7. g Chyong 6: BONG LUC HQC ROBOT.. 6.1, GIGI THIEU.. 6.2. BONG LUC HOC LAGRANGE ~ EULER 6.2.1. Lure, quan tinh va ning lugng.. 6.2.2. Phuong trinh chuyén d6ng Lagrange..... 6.3. MOMENT QUAN TINH .. 6.4. PHUONG TRINH DONG LUC HOC DANH CHO ROBOT NHIEU BAC TY DO... a! 6.4.1. Dong ning 6.4.2. Cau tric va tinh chat cia phuong trinh dong lye hoc robot. 6.5. KET LUAN .... Chwong 7: BO DIEU KHIEN ROBOT 7.1. MOT SO KHAI NIEM VE DIEU KHIEN TU DONG TRONG ROBOT 7.2. NGUYEN LY THIET KE BO DIEU KHIEN ROBOT 7.2.1. Thiét ké hé théng diéu khién vj tri vong kin d2 robot.. 7.2.2. BO diéu khién PID 7.3, DIEU KHIEN CAU TRUC NHIEU KHAU.. 7.4, KHONG GIAN TRANG THAL. 7.4.1. M6 hinh khéng gian trang thai 7.4.2. M6 hinh héa .. 7.4.3. Thiét ké b6 diéu khién PID 7.4.4. Ap dung cho diéu khién vi tri 7.4.5. Ap dung cho diéu khién van 7.5. DIEU KHIEN ROBOT PHI TUYEN.. 7.5.1. Tuyén tinh héa... cho 7.5.2. Diéu khién thich nghi va cdc huéng khdc 7.6. DIEU KHIEN KHONG SU’ DUNG MO HINH. 7.6.1. Didu khién logic mv. 7.6.2. Mang than kinh nhan tao... 7.7. HOC VOI MANG NHIEU LOP... 7.8. BIEU DIEN NEURON RIENG LE.. 7.9. HE THONG DIEU KHIEN LOGIC MO KET HOP MANG THAN KINH NHAN TAO.. . 7.10. DIBU KHIEN PID/DIEU KHIEN TRUYEN THANG. 7.10.1. Vong diéu khién ciia khép robot 7.10.2. Vong diéu khién dong . 7.10.3. Vong diéu khién van téc vi tri 7.11. DIEU KHIEN QUA MANG.... 7.11.1. Thuan Igi cia viée digu khién qua mang va img dung 7.11.2. Cée thanh phan cia NCS 7.12. KET LUAN .. 318 320 Chuong 8: TAO QUY DAO CHUYEN DONG ROBOT... 8.1, GIGI THIEU.. 321 8.2. LAP DUONG DI VA QUY DAO DI CHUYEN CUA ROBOT...322 8.3. KHONG GIAN KHOP VA KHONG GIAN DESCARTES . 8.4. CAC KHAI NIEM CO BAN VE LAP QUY DAO CHUYEN DONG CUA ROBOT... 8.4.1. Di chuyén khop 8.4.2. Di chuyén thing 8.4.3. Di chuyén theo dung cong ... 8.4.4. Ting téc va giam téc... 8.4.5. Di chuyén lién tue 8.4.6. Diéu khién serv 8.5. LAP QUY DAO KHONG GIAN KHOP.. 8.5.1. Lap quy dao 1a da thtte bac 3... 8.5.2. Lap quy dao da thtte bic 5... 8.5.3. Cac doan thing véi c4c doan cong dang Parabol 8.5.4. Doan di chuyén tuyén tinh véi chuyén tiép Parabol 8.5.5. Quy dao thdi gian nho nhat 8.5.6. Quy dao di qua cdc diém

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