Chuong 01

Ch 1: Tng quan v robot cng nghip g q g g p
C.B. Pham Robot cng nghip 1-1

Serial robot Humanoid robot
Parallel robot Mobile robot
What are Robots?
Machines with sensing, intelligence and mobility
Why use Robots?
Perform 4A tasks in 4D environments
Automation Dangerous,
Augmentation
Assistance
Autonomous
g
Dirty,
Dull,
Difficult
Robot cng nghip Robot di ng
Kinematics
Dynamics
Control
Kinematics/Control
Sensing and Sensors
Motion planning
Mapping/Localization
1.1. S lc qu trnh pht trin
- 1921: Thut ng Robot xut pht t ting Sec (Czech) Robota c ngha l cng vic
tp dch trong v kch Rossums Universal Robots ca Karel Capek.
- 1948: ti Phng Th Nghim Quc Gia Argonne, nh nghin cu Goertz nghin cu
ch to loi tay my i (master-slave manipulator) iu khin t xa u tin, v cng ch to loi tay my i (master slave manipulator) iu khin t xa u tin, v cng
nm hng General Mills ch to tay my gn tng t s dng c cu tc ng l
nhng ng c in kt hp vi cc c hnh trnh.
1954: Goertz tip tc ch to mt dng tay my i s dng ng c servo v c th -1954: Goertz tip tc ch to mt dng tay my i s dng ng c servo v c th
nhn bit lc tc ng ln khu cui. S dng nhng thnh qu , vo nm 1956 hng
General Mills cho ra i tay my hot ng trong cng vic kho st y bin.
- u thp k 60, cng ty M AMF (American Machine and Foundry Company) qung
co mt loi my t ng vn nng v gi l Ngi my cng nghip (Industrial Robot).
l nhng loi thit b c dng dp v c mt vi chc nng nh tay ngi c iu
khin t ng thc hin mt s thao tc sn xut.
- Nhng nm 80, robot cng nghip pht trin mnh m trong thm him khng gian v
cng nghip t; v sau chng c s dng rng ri trong nhiu lnh vc cng
g g p ; g g g g g
nghip vo u nhng nm 90.
1.2. ng dng in hnh trong cng nghip g g g g g
Robot c ng dng rng ri trong nhiu ngnh cng nghip. Nhng ng dng ban
u bao gm gp t vt liu, hn im v phun sn.
Robot c s dng trn my p
nha ly sn phm
Robot c dng hn im
t h t h i
trong nh my sn xut xe hi
Robot c dng trong qu trnh sn
Application Automotive Industry
Spot welding Handling Assembly Fitting
Application General Industry
p g g y g
Handling
Loading Palletizing Adaptation
a d g
Loading Palletizing Adaptation
1.3. Phn loi
C 4 yu t chnh phn loi robot:
theo dng hnh hc ca khng gian hot ng
theo th h robot
theo phng thc iu khin
theo ngun dn ng g g
Phn loi theo dng hnh hc ca khng gian lm vic
Vng gii hn tm hot ng ca robot c gi l khng gian lm vic. Nu vng lm
vic l khng gian 3-D, th robot phi c t nht 3 chuyn ng nh v (thng dng l
khp tnh tin v khp bn l) dch chuyn khu tc ng cui ca robot n v tr ca khp tnh tin v khp bn l) dch chuyn khu tc ng cui ca robot n v tr ca
i tng thao tc. V th robot thng c phn loi theo s phi hp gia ba trc
chuyn ng c bn ri sau c b sung m rng thm bc chuyn ng nhm
t th li h h t
tng thm linh hot.
1.3. Phn loi
Robot ta vung gc
1.3. Phn loi
Robot ta tr
1.3. Phn loi
Robot ta cu
1.3. Phn loi
Robot khp bn l
Phn loi theo th h
Robot c th phn loi theo qu trnh pht trin ca chng. N cng c th phn loi
theo mc thng minh nh sau (theo Hip hi robot ca nht - JARA)
Robot hot ng nh ngi iu khin trc tip tng ng tc thng qua thit b
iu khin iu khin.
Robot hot ng theo chu trnh c nh.
Robot hot ng theo chu trnh thay i c Robot hot ng theo chu trnh thay i c.
Robot c th c hun luyn theo chu trnh mong mun v sau lp li chu
trnh c hun luyn. y
Robot c iu khin theo chng trnh s.
Robot thng minh c th hiu, nhn bit v tng tc vi mi trng xung Robot thng minh c th hiu, nhn bit v tng tc vi mi trng xung
quanh.
Phn loi theo phng thc iu khin g
Robot gp-t Robot ng dn lin tc
Robot gp-t Robot ng dn lin tc
Phn loi theo ngun dn ng g g
Ngun dn ng bng in
Cc ng c s dng thng l ng c bc, g g g g ,
ng c DC servo, ng c AC servo. Robot
loi ny c thit k gn, chy m, nh v rt
chnh xc.
Ngun dn ng bng kh nn
H thng cn c trang b my nn, bnh g g y ,
cha kh v ng c ko my nn. Robot loi
ny thng c s dng trong cc ng dng
c ti trng nh c tay my l cc xy-lanh kh g y y y
nn thc hin chuyn ng thng v chuyn
ng quay. Do kh nn l lu cht nn c
nn robot loi ny thng s dng trong cc nn robot loi ny thng s dng trong cc
thao tc gp t khng cn chnh xc cao.
Ngun dn ng bng thy lc
Ngun thy lc s dng lu cht khng nn c l du p. H thng cn trang b bm
to p lc du. Tay my l cc xy-lanh thy lc chuyn ng thng v quay v ng
c du. Robot loi ny c s dng trong cc ng dng c ti trng ln.
1.4. Thnh phn ca mt h thng robot cng nghip g g g
1.5. Cc ch tiu nh gi i vi robot cng nghip g g g
c ng ca c cu
c ng (m) lin quan n bc t do (n) ca c cu: m = n - 6
c ng cng ln, th robot cng linh hat (c nhiu t th) trong vic nh v. Tuy
hi th l h h t kt t t th nhin, c ng cao th cng lm cho phc tp ca kt cu tay my tng theo v
s khng trnh khi vic tng gi thnh v gim chnh xc chuyn ng.
H s phc v
Ti mt v tr no ca tay my, mc thao tc d dng ca tay kp (hng) c
h i b h h nh gi bng h s phc v:
t
4
=
t 4
Vi l gc nn qut mt vng khng gian m ch pha trong tay kp mi c th
nh hng ti c.
1.5. Cc ch tiu nh gi i vi robot cng nghip g g g
Thng s k thut ca robot
Thng s k thut Gi tr
S b d S bc t do
Ti nng
Gi tr bin khp (min, max)
-
kg
Khp quay
Khp tnh tin
Vn tc di ti a

rad
mm
mm/s
Vn tc gc ti a
Tm vi
Tm cao
rad/s
mm
mm
Sai s nh v
chnh xc lp li
H dn ng
mm
mm
-
1.6 Cu to tay my y y
Kt cu robot
Robot cng nghip l mt chui ng hc c to thnh t nhiu khu c lin kt
vi nhau nh cc khp ng. Hai khp ng tiu biu l khp quay v khp tnh tin.
Khp quay (R) Khp tnh tin (P)
Kt cu robot
SCARA robot (Selective Compliant
A ti l t d R b t f A bl )
Articulated Robot for Assembly)
Kt cu robot
Robot dng RRR Robot dng RRP
Bc t do
Bc t do (DOF Degree Of Freedom): l s thng s c lp cn thit xc nh
hon ton v tr ca c cu, n cng l s kh nng chuyn ng tng i c lp ca
c cu .
Cng thc tnh bc t do: Cng thc tnh bc t do:
Vi c
i
: s chuyn ng b rng buc bi khp i
f
i
: s chuyn ng tng i cho php bi khp i
j: tng s khp trong c cu j: tng s khp trong c cu
n: tng s khu trong c cu (k c khu c nh)
: s bc t do ca khng gian m c cu hot ng
Ta c:
(Grubler (1917) / Kutzbach (1929))
(Grubler (1917) / Kutzbach (1929))
Bc t do
4
1 1 ) 1 4 4 ( 3
1
= + =
_
F
2
2 1 ) 1 2 3 ( 3
1
= + =
_
F
3 1 ) 1 9 8 ( 3
9
= + =
_
F
1
_
Bc t do
Thng qua cc kho st thc t, ngi ta
nhn thy l nng cao linh hot ca
tay my s dng trong cng nghip, cc
tay my phi c s bc t do cao. Nhng
robot cng nghip thng c su bc t
do, v nu b tr hp l th 6 DOF s
to ra kh nng chuyn ng linh hot ca g y g
khu tc ng cui nhm c th tip cn
i tng thao tc (nm trong vng khng
gian hot ng ca n) theo mi hng. g g ) g
Su bc chuyn ng c b tr gm:
Ba bc chuyn ng c bn thc
hin chuyn ng nh v hin chuyn ng nh v
Ba bc chuyn ng b sung thc
hin chuyn ng nh hng
2.2. C cu tc ngg
Nu khu v khp c xem nh b xng ca cnh tay my th cc thnh phn tc
ng, truyn ng c xem nh l c bp thc hin s chuyn ng ca cnh tay. Cc
thnh phn tc ng phi to ra lc ln gia tc / gim tc cc khu tuy nhin
chng phi nh, kinh t, d iu khin, tin cy cao, v d bo tr.
ng c in C cu tc ng thy lc C cu tc ng kh nn
Phn t tc ng thy lc, kh nn g y
H thng thy lc
H thng kh nn
ng c in g
DC motor
Brushless DC motor
AC motor
ng c DC g
Nguyn l lm vic
ng c DC g
Lc tc dng ln cun dy: vi: F: lc tc dng ln cun dy (N)
I: dng chy qua cun dy (A)
B: cng t trng (G)
L: chiu di cun dy (m)
u: gc to bi vect B v I
ng c DC khng chi than g g
Nguyn l lm vic ca ng c DC khng chi than 3 pha
ng c DC khng chi than g g
S nguyn l mch chuyn pha
u im: c n nh cao s dng hiu qu v d iu khin
u im: c n nh cao, s dng hiu qu v d iu khin.
ng c AC g
Nguyn l lm vic
ng c AC g
Khi c t trng quay xung quanh thanh dn, n s cm ng v to
nn dng in chy qua cc thanh dn ca rotor. Dng in lm cho
thanh dn c t trng. T trng ny tng tc vi t trng quay
trn stator to nn mt moment xon trn trc ng c.
Tc quay ca rotor lun nh hn tc t trng quay lun tn ti chuyn ng Tc quay ca rotor lun nh hn tc t trng quay lun tn ti chuyn ng
tng i gia stator v rotor (t trng quay). iu ny th hin qua h s trt.
vi: S
s
: tc ng b ca stator (rpm)
S
r
: tc quay ca rotor (rpm)
r
f: tn s ca ngun in AC
P: s cc ca 1 pha
ng c servo = ng c in + b m ha quang g g g
B m ha quang hc (optical encoder)
B m ha quang hc l b cm bin v tr gc c tn hiu ra dng s. Thnh phn
chnh: ngun sng, a vch, v t bo quang hc.
Dng tn hiu ca t bo quang
B m ha c phn thnh 2 loi: tng i (incremental encoder) v tuyt i
(absolute encoder).
B m ha tuyt i
B m ha tuyt i c tn hiu ra l mt con s nh phn - xc nh v tr ca a vch
mt cch duy nht.
vi N l s rnh trn a vch (cng l
s bit ca con s nh phn)
B m ha tng i
B m ha tng i ch c mt vng rnh, vi cc vch c phn b u nhau.
Vi tn hiu ra l hai dy xung, pha A (V
1
) v pha B (V
2
) :
S vng quay l s xung m c trn mt pha.
Chiu quay c xc nh t s lch pha gia pha A v pha B.
ng c bc (stepper motor) g ( )
Nguyn l lm vic
ng c bc (stepper motor) g ( )
Ch kch
ng c thng minh g g
c tnh ca phn t tc ng i vi robot g
Trng lng, t s lc / trng lng, p lc lm vic
Cng gi tr moment, ng c bc thng thng nng hn cc ng c servo,
do n c gi tr t s lc / trng lng nh hn.
Cng lai ng c, ng c dng mc in p cao hn s c gi tr t s lc /
trng lng ln hn.
Phn t tc ng kh nn c gi tr t s lc / trng lng thp nht.
Phn t tc ng thy lc c gi tr t s lc / trng lng ln nht (khng tnh Phn t tc ng thy lc c gi tr t s lc / trng lng ln nht (khng tnh
phn h thng bm).
p lc lm vic ca phn t tc ng thy lc thng t 55 n 5000 (psi); trong p lc lm vic ca phn t tc ng thy lc thng t 55 n 5000 (psi); trong
khi i vi phn t tc ng kh nn th thng ch t 100 n 120 (psi).
cng >< mm (stiffness vs. compliance )
cng l sc khng c ca vt liu chng li bin dng. Ni cch khc, nu vt
liu c mm cng cao, th n d dng b bin dng di tc ng ca ti.
cng t l vi module n hi ca vt liu. Module n hi ca lu cht rt cao
(khong 10
6
psi). Do , phn t tc ng thy lc c cng cao. Tri li, phn t
t kh t d b d l tc ng kh nn rt d b nn v do c mm ln.
H thng c cng ln s p ng nhanh hn khi ti thay i v do s chnh
xc hn.
Trong nhng h thng lp rp linh kin ln bo mch, nu tay my khng
cng, th cc linh kin khng th c lp rp ln bo mch v tr chnh xc. Tuy
nhin nu v tr cc linh kin v cc l trn bo mch khng thng hng tuyt i, h
thng c cng ln c th gy ra h hng i vi linh kin, bo mch Do
trong thc t, lun cn xem xt cn bng gia cng v mm.
Dng b gim tc (reduction gears )
Phn t tc ng thy lc thng dng to ra nhng lc rt ln vi hnh trnh
dch chuyn b. Do , cc h thng thy lc khng cn dng n b gim tc; v
cc xi lanh thy lc thng c lin kt trc tip vo cc khu ca tay my.
lm n gin phn thit k, gim trng lng, chi ph, v moment qun
t h kh i t t h h h th tnh ca cc khp, gim r v tng tnh n nh ca h thng.
ng c in hat ng tc rt cao. Do , chng thng phi c thit
k i km vi b gim tc tng moment v gim tc .
lm tng chi ph s lng chi tit r v moment qun tnh lm tng chi ph, s lng chi tit, r, v moment qun tnh.
Phng trnh cn bng moment ca h thng ng c + ti:
T s truyn cng ln, s nh
hng ca ti ln phn t tc
ng cng gim
ng cng gim.
So snh gia cc phn t tc ng g g
Hydraulic Electric Pneumatic
+ Good for large robots and
heavy payload
Hi h t / i ht ti
+ Good for all sizes of robots
+ Better control, good for high
i i b t
+ many components are usually
off-the-shelf
R li bl t + Highest power / weight ratio
+ Stiff system, high accuracy,
better response
precision robots
+ Higher compliance than
hydraulics
+ Reliable components
+ No leaks and sparks
+ Inexpensive and simple
+ No reduction gear needed
+ Can work in wide range of
speeds without difficulty
+ Reduction gears used reduce
inertia on the motor
+ Does not leak, good for clean
+ Low pressure compared to
hydraulics
+ Good for on-off applications speeds without difficulty
+ Can be left in position without
any damage
Does not leak, good for clean
room.
+ Reliable, low maintenance
C b k f G d f
Good for on off applications
and for pick and place
+ Compliant systems
+ Can be spark-free. Good for
explosive environments
So snh gia cc phn t tc ng g g
Hydraulic Electric Pneumatic
- May leak. Not fit for clean
room applications
R i i
- Low stiffness
- Need reduction gears,
i d b kl h t
- Noisy systems
- Require air pressure, filter, etc.
Diffi lt t t l th i li - Require pump, reservoir,
motor, hoses, etc.
- Can be expensive and noisy.
increased backlash, cost,
weight, etc.
- Motor needs braking device
- Difficult to control their linear
position.
- Deform under load constantly
Requires maintenance
- Viscosity of oil changes with
temperature
when not powered. Otherwise,
the arm will fall
- Very low stiffness. Inaccurate
response
- Lowest power to weight ratio temperature
- Very susceptible to dirt and
other foreign material in oil
L li
Lowest power to weight ratio
- Low compliance
- High torque, high pressure,
large inertia on the actuator
C cu truyn ng y g
B truyn sng (Harmonic drive) y g ( )
L b gim tc c t s truyn ln vi kch thc nh gn.
Vnh a ngoi: chi tit c nh c
Vnh a trong: dng hnh ly c
g
thnh rng pha bn trong
L a c dng hnh elip, c vng
g g y
thnh rng ngoi rt mng (output)
bi bn ngoi (input)
B truyn sng (Harmonic drive) y g ( )
S rng ca vnh a ngoi (n
cs
) nhiu hn 2 rng so
n n
vi s rng ca vnh a trong (n
fs
). Do , khi a
to sng quay ng mt vng, th vnh a trong s
dch chuyn tng i vi vnh a ngoi l 2 rng.
T s truyn =
fs
cs f
n
n n
s
T s truyn ln
Khng c r chnh xc cao, vn hnh m
Kch thc gn, nh, v d lp rp (ng trc vo-ra)
c im:
Kh nng truyn ti ln
B truyn vt ai c bi (Ball-screw drive) y ( )
L c cu truyn ng bin i chuyn ng quay sang chuyn ng tnh tin c
chnh xc v hiu sut cao.
B truyn ai rng (Timing-belt drive) y g ( g )
B truyn ai rng cng c
s dng rt ph bin (do tp
hp c nhng u im ca
truyn ng xch v truyn
ng ai). ai rng cng
tng t nh ai dt nhng
b mt trong c cc g hnh g g
thang, trn hoc cong. Trn
cc bnh ai cng c cc
rnh tng ng. B truyn ai g g y
rng c dng n cng
sut trong khong 100 500
(kW) v tc 5 50 (m/s). (kW) v tc 5 50 (m/s).
T s truyn ti a ln n 30,
hiu sut ti a 98%.

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Ch 1: Tng quan v robot cng nghip g q g g p

C.B. Pham Robot cng nghip 1-1

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