TRNG I HC GIAO THNG VN TI

Khoa C Kh-B mn K thut my

----------&&O&&---------

ROBOT CNG NGHIP

CHNG 1
TNG QUAN

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1.1. VAI TR CA ROBOT

Mc ch:

Robot c p dng trong nhiu lnh vc di gc thay th sc

ngi.
S dng trong cc dy chuyn sn sut nhm nng cao nng sut,
cht lng v hiu qu sn xut t gim gi thnh sn phm nng
cao kh nng cnh tranh

c im:

Lm vic khng bit mt mi, khng c hin tng nhm ln trong

khi lm vic.
Lm vic c trong cc mi trng nguy him nh phng x, c
hi
Thay i cc thao tc lm vic d dng bng cch thay i chng
trnh lp trnh

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1.1. VAI TR CA ROBOT

ng dng:

Trong c kh,
Trong cc dy chuyn sn xut t ng,
Trong lnh vc y hc,
Trong quc phng,
Trong chinh phc v tr,
.

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1.1. VAI TR CA ROBOT

ng dng: (Hnh nh minh ha)

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1.1. VAI TR CA ROBOT

HONDA (ASIMO) Biped Robot

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Fujitsu Biped Robot (Laptop Size)

Sony (AIBO) Toy robot

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1.2. CC NH NGHA V ROBOT

Theo tiu chun AFNOR (Php):

Robot l mt c cu chuyn ng t ng c th lp trnh, lp li cc

chng trnh, tng hp cc chng trnh t ra trn cc trc ta ;
c kh nng nh v, nh hng, di chuyn cc i tng ca vt
cht: chi tit, dng c, g lp, theo nhng hnh trnh thay i
chng trnh ha nhm thc hin cc nhim v cng ngh khc
nhau.

Theo RIA (Robot Institute of America):

Robot l mt tay my vn nng c th lp li cc chng trnh c

thit k di chuyn vt liu, chi tit, dng c hoc cc thit b
chuyn dng thng qua cc chng trnh chuyn ng c th thay
i hon thnh cc nhim v khc nhau.

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1.2. CC NH NGHA V ROBOT

Theo OCT (Nga):

Joint3

Robot l my t ng, c
t c nh hoc di ng
c, lin kt gia mt tay
my v mt h thng iu
khin theo chng trnh, c
th lp trnh li hon
thnh cc chc nng vn
ng v iu khin trong qu
trnh sn xut.

Link3
End of Arm

Link2
Link1
Joint2
Joint1
Link0
Base

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1.3. CC KHI NIM

Cc khu ca Robot (Links)

Joint3

S khu ca Robot quyt nh n s

bc t do (s kh nng chuyn ng
c lp) ca Robot.

End of Arm

Cc khp ca Robot (Joints)

Khp quay (R)
Khp tnh tin (P)
Khp tr (C)
Khp cu (S)
Khp cc ng (U)

Link3

Link2
Link1
Joint2
Joint1
Link0
Base

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1.3. CC KHI NIM

Khp tnh tin

Linear joint (type L)
Orthogonal joint (type O)

Khp quay
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)

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1.3. CC KHI NIM

Khp cu

Khp quay
Khp vt

Khp tnh tin

Khp tr

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Khp cc ng

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1.3. CC KHI NIM

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12

1.3. CC KHI NIM

Khu tc ng cui
(End Effectors)

C tay (Wrist assembly)

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1.3. CC KHI NIM

Bc t do ca Robot :

Bc t do ca Robot l s kh
nng chuyn ng ca mt c
cu Robot (chuyn ng quay
hoc chuyn ng tnh tin).
Hu ht c h ca Robot l mt
c cu h, do bc t do ca n
c th tnh theo cng thc:
5

W 6n ipi
i 1

n: S khu ng
pi: S khp loi i (i = 1,..5: S
bc t do b hn ch)
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1.3. CC KHI NIM

Khng gian lm vic ca Robot:

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15

1.3. CC KHI NIM

H quy chiu:

Mi Robot bao gm nhiu khu

(links) lin kt vi nhau bi cc
khp (joints), to thnh mt xch
ng hc xut pht t mt khu
c bn (base) ng yn.
H quy chiu gn vi khu c
bn gi l h quy chiu chun.
Cc h quy chiu trung gian khc
gn vi khu ng gi l h quy
chiu suy rng.

Quy tc bn tay phi:

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1.4. CU TRC C BN CA ROBOT

Cnh tay Robot: Kt cu c kh to nn cc chuyn ng ca Robot.

Ngun ng lc: Cc ng c in, cc h thng xy lanh thy lc, kh nn...
Dng c thao tc: Bn tay nm bt i tng hoc cc cng c lm vic nh
m hn, mi, u phun sn.
Thit b dy hc: H tr lp trnh v iu khin Robot.
Cc phn mm lp trnh v cc chng trnh iu khin Robot: Dng
iu khin Robot thng qua b iu khin.

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17

1.5. CC ROBOT C BN

PUMA 560

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1.5. CC ROBOT C BN

SCARA Manipulator
(RRP)

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1.5. CC ROBOT C BN

Cartesian Manipulator
(PPP)

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1.5. CC ROBOT C BN
Robot song song (Parallel Robots)

Quattro
Hexapod
Alio Tripod

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