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1:
U T
QU
V R B T
1.1.
Gii thiu chung v Robot .................................. Error! Bookmark not defined.
1.1.1
hi im v Robot ................................ Error! Bookmark not defined.
1.1.2. hn loi v Robot .................................. Error! Bookmark not defined.
1.1.2.1
hn loi theo hnh dng hnh hcError! Bookmark not defined.
1.1.2.2 Phn loi theo b iu khin ... Error! Bookmark not defined.
1.1.2.3 Phn loi theo kt cu ng hcError! Bookmark not defined.
1.2 Tng quan v Robot song song loi Hexapod
20
1.2.1 Vi nt chung v Robot song song
20
1.2.2 Robot song song loi Hexapod
25
1.2.2.1 Cu trc hnh hc
26
1.2.2.2 M t ton hc ca i tng Hexapod
26
U
2:
T
U V T
T
T B .......................................
2.1.
ii thiu v ng c R Servo ........................ Error! Bookmark not defined.
2.1.1. Cu to bn trong ................................................ Error! Bookmark not defined.
2.1.2. Cch thc hot ng v phng php iu khinError! Bookmark not defined.
2.1.3.
hn ng c iu khin .................................... Error! Bookmark not defined.
2.2.
Vi iu khin ic 16F877 ................................ Error! Bookmark not defined.
2.2.1.
hi qut v vi iu khin pc 16f877a ............. Error! Bookmark not defined.
2.2.2.
hi qut v cc chn d liu ca
16F887 Error! Bookmark not defined.
2.2.3.
hi qut v chc nng ca cc port trong vi iu khin PIC16F887AError! Bookmark not defined.
2.2.4.
iu ch xung PWM vi PIC 16f887............................................................. 31
2.3

Module thu pht song rf pt2262-pt2272.........................................................32

Thit k s ng hc ...............................................................................41

2.3.

3: T

T K K T CU MY

Bn y knh ..................................................................................................44

3.1.
3.1.1.

cu bn y knh......................................................................................44

3.1.2.

cu y knh..............................................................................................49

3.1.3.

cu nh v knh v gi b knh..............................................................50

3.2.

Khung ct knh..............................................................................................54

3.2.1.

H thng truyn ng.................................................................................54

3.2.2.

cu mang dao ct...................................................................................55

3.3.

Bn b knh .................................................................................................59

3.3.1.

c phng n b knh...............................................................................59

3.3.2.

Tnh chn c cu bn b.............................................................................61

3.3.2.

cu gi b knh.......................................................................................63

4:T

T K M

N T V L P TRNH CHO MY

4.1.

Gii thiu v cc linh kin, phn t chnh s dng trong mch..............66

4.1.1.

Vi iu khin PIC 16F887A........................................................................66

4.1.2.

LCD...............................................................................................................75

4.1.3.

Ma trn phm 4x4( KEYPAD) ...................................................................78

4.2.

Thit k mch phn cng.............................................................................79

4.2.1. Gii thiu cc modul ca mch...................................................................79

4.2.2. Cch vn hnh mch....................................................................................80
4.2.3.

S nguyn l mch..................................................................................81

4.3.

Vit chng trnh iu khin......................................................................84

4.3.1. S thut ton qu trnh lm vic............................................................85

4.3.2.

hng trnh iu khin..............................................................................86

5:

6:

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