TAI:

NGHIN CU VA THIT K V ROBOT

ELBOW

Gio vin hng dn : : TS. NGUYN PHAM THUC ANH

Sinh vin thc hin : Nhom 11
MSSV :

Chng I: Gii thiu

1. Lich s phat trin cua Robot

2. Cu truc c ban cua Robot cng nhip
3. ng dung cua Robot
4. Cac thng s k thut c ban cua robot Elbow
5. Thng s cua robot thc t IRB6600
6. Mt s clip hoat ng

1. Lich s phat trin

1954: G.C.Devol ng ky ban quyn

pht minh va thit k robot

1960: Robot Unimate u tin c

gii thi u la robot truyn n g thuy
lc, no s dung dang nguyn ly iu
khin s cho iu khin c cu tay my

1962: General Motor (GM) la Cng ty

robot u tin lp t robot cng
nghi p (robot Unimate) trong dy
chuyn san xut

1. Lich s phat trin

1976: Robot PUMA 560 (my lp
rp van nng co th l p trinh) c
trinh din
1980: Robot cng nghi p co nhng
bc pht trin nhanh chong.
- Nhiu chng trinh gii thi u va
cc khoa hoc v robot ra i.
- Cc khoa hoc v robot hng mui
nhon ti cc ky s i n, ky s c
khi va ky s khoa hoc my tinh,

1. Lich s phat trin

1995: Phat trin cac ng
dung nh trong nganh robot
2003: Robot Geologist
cua NASA c a ln sao
Ha tim kim cu tra li
cho s sng y.

2. Cu truc c ban cua robot cng

nghi p

Mt RBCN bao gm cc phn c ban sau:

3. ng dung cua robot

Mc d lnh vc ng dung cua robot rt rng va ngay cang c m rng

thm, song theo thng k v cc ng dung robot sau y chng c s
dung chu yu trong cng nghip, vi vy khi nhc n robot ngi ta
thng lin tng n robot cng nghip.

3. ng dung cua robot

Cc cng vi c thng g p cua robot:

Thay con ngi thc hi n cc cng vi c co
tinh cht nguy him.
Thc hi n nhng cng vi c l p i l p lai
d gy bun chn cho con ngi
Thc hi n cng vi c nha ma con ngi
khng mun lam nh: ra bt, lau nha

3. ng dung cua robot

Cc ng dung robot trong cng nghi p :

Robot mang vc di chuyn
Robot nap, d tai
Robot han
Robot phun sn
Robot lp rp
Robot kim tra

Cc ng dung khc:
Robot trong khng gian vu tru
Robot khm cha b n h
Robot trong qun s
Robot trong gia inh

4. Cac thng s k thu t c ban cua

robot elbow

Robot Elbow vi tri

ban u

Robot Elbow vi tri

bt ky

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4. Cac thng s k thu t c ban cua

robot elbow
Bang thng s D-H cua robot Elbow

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5. Thng s cua robot thc t IRB6600

cua hang ABB

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5. Thng s cua robot thc t IRB6600

cua hang abb

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5. Thng s cua robot thc t irb6600

cua hang abb

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6. M t s clip hoat n
g cua irb6600
y la ia ch cua video nh :
https://www.youtube.com/watch?
v=s1065CaIwF0

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Chng II: Xy dng phn mm tinh

toan n
g hoc thu n
vi tri cua Robot
ELBOW la robot c 6 khu vi cu hinh RRRRRR. Tt
ca 6 khu u chuyn ng quay.

Hinh 2.1 Robot Elbow

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Trong vi du m phng robot nay

chng ta chon cc gi tr nh
sau:
a2= 0.6m a3 = 0.5m
a4 = 0.3m
d1= 0.7m d2= 0.15m

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3.1 Xy dng h to .
Bt nut lnh s 5 trn menu ngang, di.
Vao menu chinh : FILE -> LOAD -> ROBOTFILE chon
DHTempl ->OPEN.
Vao menu chinh : ROBOTICS -> ROBOTMOTION +
KINEMATICS ->
KINEMATICS DATAChon Active Join -> Ok -> Activ Joint
(1) RZ (khp th nht la khp quay) -> Ok -> Nhp
cac thng s DH cua khu th nht.
Vao lai bc 4 -> Number Active Joint(1) -> Ok -> n
up chut vao vt xanh hoc a con tr vao phn nhp
d liu (text box) n 2 (By gi s khp ng la 2), nhp
cac thng s DH cho khu s 2.
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19

Lam tng t nhp cc thng s DH cho 4 khu cn

lai. Ch y tt ca cc khp u la khp quay (Activ
Joint (n) RZ)

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 Kt qua cac gn trn cac khu nh hinh sau

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 kim tra cac s liu a

nhp bng cach kich chut
vao menu : ROBOTICS ->
ROBOTMOTION +
KINEMATICS ->
KINEMATICS DATA->
KINEMATIC INFOMATION
xem lai s khu, khp
va cac thng s DH. Nu
vao d liu sai ta c th
hiu chnh lai.

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Thit k hnh dng robot

Vao menu 3D-CAD -> select group -> robot group-> ok
( thit k robot)

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 Thit k khu th nht:

Vao menu 3D-CAD -> create/import new 3D body->
cylinder

chon khi hinh tru

Chon vi tri t cua khu

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kich thc cua khu

Chon khp ma khu ni vao

t tn cho khu

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 Sau khi n OK ta c khu 1 nh hinh v

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Lam tng t vi cac s liu nh sau thit k hinh dang cac khu cn
lai

X
1
2
Khu 1
Cu 1
Ngang 1
Khu 2
Cu 2
Ngang 2
Khu 3
Cu 3
Ngang 3
Khu 4
Cu 4
Ngang 4
Khu 6

0,6

0,6
0,5
0,3

Y
0,6

0,08
0,06
0,04

Z
0,05
0,1
0,7
0,16
0,08
0,12
0,06
0,09
0,04
0,07
0,15

R
0,15
0,08
0,08
0,02
0,06
0,011
0,045
0,008
0,03
0,005
0,015

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 Kt qua hinh dang robot sau khi thit k.

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Chng I: Xy dng phn mm tinh

toan ma tr n
Jacobi

iu chnh kich thc

cua khu

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Chng IV: Thit k qu ao b c 3 &

2-1-2

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TM TT V CC LINH KIN TCS

THNG DNG

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