1.

Thng tin v ging vin H v tn: Chc danh, hc hm, hc v: Thi gian, a im lm vic: a ch lin h: Phm Anh Tun Tin s T 8h n 17h B mn C in t, Khoa CHKT&TH, i hc Cng ngh, HQG HN, phng 310, 264 i Cn Ba nh - H Ni 7623134 patuan@mechatronics.org.vn C hc k thut, C in t, Robot, Cng ngh v tr Nguyn Trng Thanh Thc s T 8h n 17h B mn C in t, Khoa CHKT&TH, i hc Cng ngh, HQG HN, phng 230, 264 i Cn Ba nh - H Ni 7622119 thanhngtruong@gmail.com C in t, Robot, Cng ngh v tr

in thoi, email: Cc hng nghin cu chnh: H v tn: Chc danh, hc hm, hc v: Thi gian, a im lm vic: a ch lin h:

in thoi, email: Cc hng nghin cu chnh: 2. Thng tin chung v mn hc

Tn mn hc: M mn hc: S tn ch: Mn hc: - Bt buc: - La chn: Cc mn hc tin quyt:

Robot EMA3020 02 1. Ton cao cp 2. L thuyt iu khin t ng 3. C hc l thuyt

Cc mn hc k tip:

Thc hnh m phng iu khin h c in t

Cc yu cu i vi mn hc (nu c):

Gi tn ch i vi cc hot ng: + Nghe ging l thuyt: + Lm bi tp trn lp: + Tho lun: + Thc hnh, thc tp ( PTN, nh my, studio, in d, thc tp...): 0,2 + Hot ng theo nhm: + T hc: 0,2 0,2 1,2 0,2

a ch Khoa/ b mn ph trch mn hc: B mn C in t, Khoa C hc k thut v t ng ha, 264 i Cn Ba nh - H Ni

3. Mc tiu ca mn hc Mn hc s cung cp cho sinh vin cc kin thc c bn v robot v cc phng php m phng, thit k qu o v iu khin robot. 4. Tm tt ni dung mn hc Cu trc mn hc gm 5 phn chnh nh sau:

Gii thiu chung v r bt ng hc r bt ng lc hc r bt Thit k qu o r bt iu khin r bt

5. Ni dung chi tit mn hc Chng 1: Gii thiu chung 1.2. Phn loi Rbt 1.3. V tr v hng ca vt rn trong khng gian 1.4. Cc php bin i ng nht Chng 2: ng hc r bt (6 gi ln lp l thuyt/1 gi bi tp/1 gi nhm/ 1 gi t hc) (1 gi ln lp l thuyt/ 0,5 gi tho lun/ 0,5 gi t hc)

1.1. Cc thnh phn c bn ca h thng Rbt

2.1. Cc h to v quy c DENAVIT-HARTENBERG 2.2. Ma trn bin i ng nht DENAVIT-HARTENBERG

2.3. Phn tch v tr ca robot chui v robot song song 2.4. Phn tch JACOBIAN 2.5. C cu khp v khu Chng 3: ng lc hc rbt (6 gi ln lp l thuyt/1 gi bi tp/0,5 h nhm/ 0,5 gi t hc) 3.1. Cc thuc tnh khi lng 3.2. ng lng 3.3. Php bin i ma trn qun tnh 3.4. ng nng 3.5. Phng trnh NEWTON-EULER 3.6. Nguyn l cng o 3.7. Phng trnh LAGRANGE Chng 4: Thit k qu o r bt (3 gi ln lp l thuyt/0,6 gi bi tp/2 gi thc hnh/0,4 gi tho lun/ 0,6 gi t hc) 4.1. Khng gian lm vic ca Rbt 4.2. Qu o theo to Robot 4.3. Qu o theo to khng gian 4.4. Bi tp mn hc: M phng v thit k qu o cho Rbt Chng 5: iu khin r bt (3 gi ln lp l thuyt/0,4 gi bi tp/1 gi thc hnh/0,6 gi tho lun/ 0,4 gi t hc) 5.1. iu khin trong to robot 5.2. iu khin trong to khng gian 6. Hc liu 6.1. Hc liu bt buc 1. 2. o Vn Hip. K thut robot. Nh xut bn KH&KT, 2003 Lung Wen Tsai: Robot analysis - The Mechanics of Serial and Parallel Manipulators. A Wiley - Interscience Publication. 1999.

6.2. Hc liu tham kho

1. 2. 3. 4.

Ahmed A. Shabana: Dynamics of Multibody System. Cambridge University Press. 1998 Robert H. Bishop. C in t, NXB HQG, 2006. Richard C. Dorf and Robert H. Bishop. Modern Control Systems, Seventh Edition. Addision - Wesley Publishing Company. J. Craig. Introduction to Robotics,Mechanics and Control. 2nd Edition, Addison Wesley, 1996.

7. Hnh thc t chc dy hc 7.1. Lch trnh chung Hnh thc t chc dy hc mn hc Ni dung L thuyt ND 1: Gii thiu chung ND 2: Cc tham s DENAVITHARTENBERG ND 3: Phn tch v tr ca robot chui v robot song song ND 4: Phn tch JACOBIAN ND 5: C cu khu, khp ND 6: Cc thuc tnh khi lng, ng lng v php bin i ma trn qun tnh ND 7: ng nng v phng trnh NEWTON-EULER ND 8: ng nng v phng trnh NEWTON-EULER (tip) ND 9: Nguyn l cng o v phng trnh LAGRANGE 1 1,5 1,5 1,5 1,5 1 0,2 0,3 0,3 0,2 Ln lp Bi tp Tho lun 0,5 0,2 0,2 0,3 0,3 0,1 Thc hnh, th nghim, in d ... T hc, t nghin cu 0,5 0,2 0,2 0,3 0,3 0,1 Tng

2 2,1 2,2 2,4 2,3 1,2

1 1 1

0,2 0,3 0,2

0,1 0,1 0,1

0,1 0,1 0,1

1,4 1,5 1,4

ND 10: Nguyn l cng o v phng trnh LAGRANGE (tip) ND 11: Khng gian lm vic robot ND 12: Qu o theo ta robot ND 13: Qu o theo ta khng gian ND 14: iu khin trong ta robot ND 15: iu khin trong ta khng gian Cng 7.2. Lch trnh t chc dy hc c th Ni dung 1, tun 1: Gii thiu chung Hnh thc t chc dy hc L thuyt Thi gian, a im

1 1 1 1 1,5 1,5 18 h

0,3

0,1 0,1

0,1 0,1 1 1 0,5 0,5 3h 0,3 0,3 0,2 0,2 3h

1,5 1,2 2,8 2,8 2,7 2,7 30 h

0,3 0,3 0,2 0,2 3h

0.2 0,2 0.3 0,3 3h

Ni dung chnh

Yu cu SV chun b

Ghi ch Tham kho chng 1 ca sch Robot analysis - The Mechanics of Serial and Parallel Manipulators

Theo b tr - Cc thnh phn c - c trc chng 1 ca phng bn ca h thng robot v phn 2.1, 2.2, 2.3 o to chng 2 ca gio - Phn loi robot - V tr v hng vt trnh K thut robot rn trong khng gian - Cc php bin i ng nht - Chun b cu hi

Tho lun

Theo b tr Tho lun v cc loi Chia nhm, chun b ca phng robot v cc php bin cu hi, tho lun theo o to i ng nht ch

T hc, t Ti th vin Tm hiu v cc loi Tm hiu thm trong nghin cu hoc nh robot chui, song cc ti liu c lin song, di ng, thng quan minh Ni dung 2, tun 2: Cc tham s DENAVIT-HARTENBERG Hnh thc t Thi gian, Ni dung chnh Yu cu SVchun b

chc dy hc L thuyt

a im Theo b tr - Cc h ta v quy c - c trc phn 2.4, 2.5 ca phng DENAVIT-HARTENBERG chng 2 ca gio trnh K o to - Ma trn bin i ng nht thut robot DENAVIT-HARTENBERG - c trc phn 2.1 2,3 chng 2 ca gio trnh Robot analysis - The Mechanics of Serial and Parallel Manipulators - Chun b cu hi Theo b tr Gii bi tp v bin i ma Xem trc cc v d trong cc ca phng trn ng nht DENAVIT- gio trnh o to HARTENBERG Theo b tr Tho lun v cc tham s Tin hnh chia theo nhm v ca phng DENAVIT-HARTENBERG nhn ch tho lun, trnh by o toP.... v phng php xy dng, bin i ma trn ng nht c chng 3 ca gio trnh Robot analysis - The Mechanics of Serial and Parallel Manipulators

Bi tp

Tho lun

T hc, t Ti th vin, Nghin cu thm v cc tham nghin cu nh s DENAVITHARTENBERG cho robot song song

Ni dung 3, tun 3: Phn tch v tr ca robot chui v robot song song Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b

Theo b tr - Phn tch bi ton v tr ca - c trc phn 2.4, 2.5 ca phng robot chui chng 2 ca gio trnh K o to - Phn tch bi ton v tr ca thut robot - c trc phn 2.4 2.7 robot song song chng 2, chng 3 ca gio trnh Robot analysis - The Mechanics of Serial and Parallel Manipulators - Chun b cu hi

Bi tp

Theo b tr Bi tp v ng hc thun v c trc cc v d trong gio ca phng nghch ca robot trnh o to Theo b tr Tho lun v phn tch v tr Chia nhm, chun b sn cu ca phng robot hi, tho lun theo ch o to

Tho lun

T hc, t Ti th vin, Nghin cu thm v cc gc c chng 3 ca gio trnh nghin cu nh quay v bi ton v tr ca cc Robot analysis - The Mechanics dng robot song song of Serial and Parallel Manipulators Ni dung 4, tun 4: Phn tch JACOBIAN Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b

Theo b tr - Vn tc quay v tnh tin - c trc phn 2.6 chng 2 ca phng ca cc vt rn ca gio trnh K thut robot o toP.... - Ma trn JACOBIAN - c trc chng 4 ca gio trnh Robot analysis - The - Bin i JACOBIAN Mechanics of Serial and Parallel Manipulators Theo b tr Tnh ton cc thng s robot Xem trc v d ca phng s dng phn tch o to JACOBIAN Theo b tr - Phn tch JACOBIAN ca phng o to Chun b cu hi, chia nhm theo ch , tho lun, trnh by

Bi tp

Tho lun

T hc, t Ti th vin, Tm hiu thm v phn tch c chng 5 ca gio trnh nghin cu nh JACOBIAN cho robot song Robot analysis - The Mechanics song of Serial and Parallel Manipulators Ni dung 5, tun 5: Cc c cu khp, khu Hnh thc t chc dy hc Thi gian, a im Ni dung chnh Yu cu SVchun b

L thuyt

Theo b tr - C cu khp c chng 7, 8 ca gio trnh ca phng - C cu khu Robot analysis The o to - Phn tch tnh lc trn Mechanics of Serial and Parallel Manipulators khu, khp Theo b tr Bi tp v ng hc ca ca phng khu, khp o to Theo b tr Tho lun v ng hc v Chia nhm, tho lun, trnh ca phng tnh lc trn khu v khp by o to

Bi tp

Tho lun

T hc, t Ti th Nghin cu su hn v tnh nghin cu vin, nh lc ti khu v khp Ni dung 6, tun 6: Cc thuc tnh khi lng, ng lng v php bin i ma trn qun tnh Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b c phn 9.2, 9.3, 9.4 chng 9 ca gio trnh Robot analysis - The Mechanics of Serial and Parallel Manipulators

Theo b tr - Cc thuc tnh khi lng ca phng - ng lng o to - Php bin i ma trn qun tnh

Tho lun

Theo b tr Tho lun v ng lng v Chia nhm, tho lun v trnh ca phng php bin i ma trn qun by o to tnh

T hc, t Ti th Nghin cu thm v php Tm thm cc ti liu lin quan nghin cu vin, nh bin i ma trn qun tnh Ni dung 7, tun 7: ng nng v phng trnh NEWTON-EULER Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b - c trc phn 3.2 chng 3 ca gio trnh K thut robot

Theo b tr - ng nng ca phng - nh lut Newton-Euler o to

- c trc phn 9.5, 9.6 chng 9 ca gio trnh Robot analysis - The Mechanics of Serial and Parallel Manipulators Bi tp Theo b tr Bi tp v ng lc hc Xem trc cc v d trong gio ca phng robot s dng phng trnh trnh o to Newton-Euler Theo b tr Tho lun v nh lut Chia nhm, chun b cu hi, ca phng Newton-Euler tho lun v trnh by o to

Tho lun

T hc, t Ti th Nghin cu thm phng c phn 10.2 chng 10 ca nghin cu vin, nh trnh Newton-Euler cho gio trnh Robot analysis - The robot song song Mechanics of Serial and Parallel Manipulators Ni dung 8, tun 8: ng nng v phng trnh NEWTON-EULER Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b - c trc phn 3.2 chng 3 ca gio trnh K thut robot - c trc phn 9.5, 9.6 chng 9 ca gio trnh Robot analysis - The Mechanics of Serial and Parallel Manipulators Bi tp Theo b tr Bi tp v ng lc hc Xem trc cc v d trong gio ca phng robot s dng phng trnh trnh o to Newton-Euler Theo b tr Tho lun v nh lut Chia nhm, chun b cu hi, ca phng Newton-Euler tho lun v trnh by o to th Nghin cu thm phng c phn 10.2 chng 10 ca trnh Newton-Euler cho gio trnh Robot analysis - The

Theo b tr - ng nng ca phng - nh lut Newton-Euler o to

Tho lun

T hc, t Ti

nghin cu

vin, nh

robot song song

Mechanics of Serial Parallel Manipulators

and

Ni dung 9, tun 9: Nguyn l cng o v phng trnh LAGRANGE Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b - c trc phn 3.1 chng 3 ca gio trnh K thut robot - c trc phn 9.8 chng 9 ca gio trnh Robot analysis The Mechanics of Serial and Parallel Manipulators Bi tp Theo b tr Bi tp v ng lc hc Xem trc cc v d trong gio ca phng robot s dng phng trnh trnh o to Lagrange Theo b tr Tho lun v phng trnh Chia nhm, chun b cu hi, ca phng Lagrange tho lun v trnh by o to

Theo b tr - Nguyn l cng o ca phng - Phng trnh Lagrange o to

Tho lun

T hc, t Ti th Nghin cu thm v phng c phn 10.3, 10.4 chng nghin cu vin, nh trnh Lagrange cho robot 10 ca gio trnh Robot song song analysis - The Mechanics of Serial and Parallel Manipulators

Ni dung 10, tun 10: Nguyn l cng o v phng trnh LAGRANGE Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b - c trc phn 3.1 chng 3 ca gio trnh K thut robot - c trc phn 9.8 chng 9 ca gio trnh Robot analysis -

Theo b tr - Nguyn l cng o ca phng - Phng trnh Lagrange o to

The Mechanics of Serial and Parallel Manipulators Bi tp Theo b tr Bi tp v ng lc hc Xem trc cc v d trong gio ca phng robot s dng phng trnh trnh o to Lagrange Theo b tr Tho lun v phng trnh Chia nhm, chun b cu hi, ca phng Lagrange tho lun v trnh by o to

Tho lun

T hc, t Ti th Nghin cu thm v phng c phn 10.3, 10.4 chng nghin cu vin, nh trnh Lagrange cho robot 10 ca gio trnh Robot song song analysis - The Mechanics of Serial and Parallel Manipulators Ni dung 11, tun 11: Khng gian lm vic robot Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b

Theo b tr - Khng gian lm vic ca - c trc phn 4.1 chng ca phng robot chui 4 ca gio trnh K thut o to - Khng gian lm vic ca robot robot song song Theo b tr Tho lun v khng gian Chia nhm, chun b cu hi, ca phng lm vic ca cc loi robot tho lun v trnh by o to

Tho lun

T hc, t Ti th Nghin cu thm v khng nghin cu vin, nh gian lm vic ca robot song song

Ni dung 12, tun 12: Qu o theo ta robot Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b Ghi ch

Theo b tr - Thit k qu o theo - c trc phn 4.1 ca phng chng 4 ca gio

o to Bi tp

ta robot

trnh K thut robot

Theo b tr Thit lp qu o ca Xem trc cc v d ca phng robot theo nhim v o to cho trc Ti phng Thit k qu o trn th nghim phn mm my tnh Theo hng dn ca cn b phng th nghim

Thc hnh

Tho lun

Theo b tr Tho lun v u im Chia nhm, chun b ca phng v nhc im ca cu hi, tho lun v o to thit k qu o theo trnh by ta robot

T hc, t Ti th vin, Nghin cu thm v nghin cu nh qu o robot song song theo ta robot Ni dung 13, tun 13: Qu o theo ta khng gian Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b

Theo b tr - Thit k qu o theo ta - c trc phn 4.1 chng 4 ca phng khng gian ca gio trnh K thut robot o to Theo b tr Thit lp qu o ca robot Xem trc cc v d ca phng theo nhim v cho trc o to Ti phng Thit k qu o trn phn Theo hng dn ca cn b th nghim mm my tnh phng th nghim Theo b tr Tho lun v u im v Chia nhm, chun b cu hi, ca phng nhc im ca thit k qu tho lun v trnh by o to o theo ta khng gian

Bi tp

Thc hnh Tho lun

T hc, t Ti th vin, Nghin cu thm v qu o nghin cu nh robot song song theo ta khng gian

Ni dung 14, tun 14: iu khin trong ta robot Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b

Theo b tr - iu khin robot trong h - c trc phn 4.2 chng 4 ca phng ta robot ca gio trnh K thut robot o to Theo b tr iu khin robot theo nhim Xem trc cc v d ca phng v cho trc o to Ti phng iu khin robot trong phng Theo hng dn ca cn b th nghim th nghim theo h ta phng th nghim robot Theo b tr Tho lun v u im v Chia nhm, chun b cu hi, ca phng nhc im ca iu khin tho lun v trnh by o to robot theo ta robot

Bi tp

Thc hnh

Tho lun

T hc, t Ti th vin, iu khin cho robot song nghin cu nh song Ni dung 15, tun 15: iu khin trong ta khng gian Hnh thc t chc dy hc L thuyt Thi gian, a im Ni dung chnh Yu cu SVchun b

Theo b tr - iu khin robot trong h - c trc phn 4.2 chng 4 ca phng ta khng gian ca gio trnh K thut robot o to Theo b tr iu khin robot theo nhim Xem trc cc v d ca phng v cho trc o to Ti phng iu khin robot trong phng Theo hng dn ca cn b th nghim th nghim theo h ta phng th nghim khng gian Theo b tr Tho lun v u im v Chia nhm, chun b cu hi, ca phng nhc im ca iu khin tho lun v trnh by

Bi tp

Thc hnh

Tho lun

o to....

robot theo ta khng gian

T hc, t Ti th vin, iu khin cho robot song nghin cu nh song 8. Chnh sch i vi mn hc v cc yu cu khc ca ging vin

Chun b tt cc phn c giao t hc C mt trn lp t nht l 24/30 gi hc Mi sinh vin u phi np cc bi tp, tiu lun c giao Bi tp v bi kim tra t khng di 6/10

9. Phng php, hnh thc kim tra - nh gi kt qu hc tp mn hc Phn chia cc mc tiu cho tng hnh thc kim tra - nh gi 9.1. Kim tra nh gi thng xuyn Mc ch: Nm vng kin thc v c in t, cc thnh phn c bn, v ng dng ca c in t Cc mc tiu:

Phn loi c cc loi robot, cc thnh phn trong robot; thit lp m hnh tnh ton robot Gii c cc bi ton ng hc robot bng ma trn bin i ng nht DENAVITHARTENBERG v phn tch JACOBIAN; m hnh ha, tnh ton cc thng s trn khu, khp Gii c cc bi ton ng lc hc robot bng 2 phng php NEUTON-EULER v LAGRANGE; Thit k qu o robot trong c hai h ta robot v ta khng gian iu khin c robot trong c ta robot v ta khng gian Nm c qu trnh thit k, m hnh v m phng robot chui v robot song song. Bi tp theo ni dung mn hc: 06 bi tp lm nh (cho cc ni dung 2, 3, 4, 5, 7, 8) Bi tp ln: 02

Cc k thut nh gi

01 bi tp ln v ng hc robot (ni dung 2, 3, 4, 5) 01 bi tp ln v ng lc hc robot (ni dung 6, 7, 8)

Bo co thc hnh: 01 bo co thc hnh cho cc ni dung 10, 11, 12, 13 Bi tp: 30%;

T l im cho mi hnh thc KT-G:

Mi bi tp ln: 25% (x2=50%); Bo co thc hnh: 20%

9.2. Kim tra - nh gi nh k Bao gm cc phn sau (trng s ca tng phn do ging vin xut, ch nhim b mn thng qua): STT 1. 2. 3. 4. 5. Ni dung Trng s (%)

Tham gia hc tp trn lp (i hc y , chun b bi tt v tch cc 5 tho lun, ) Phn t hc, t nghin cu (hon thnh tt ni dung, nhim v c 30 giao /tun; bi tp nhm /thng; bi tp c nhn/ hc k, ); Hot ng theo nhm Kim tra - nh gi gia k Kim tra - nh gi cui k 5 25 35

9.3. Tiu ch nh gi cc loi bi tp 1. Bi tp v l thuyt: - Trnh by tt bn cht vn yu cu, c m rng: 10 im - Trnh by ng bn cht vn yu cu: - Trnh by c vn mc trung bnh: - Trnh by cha ng bn cht, ni dung: 2. Bi tp v ng dng: - Lm tt c din gii v p s theo p n: - Vit ng din gii, sai p s: - Ch vit c din gii: - Ch bit cng thc, thay s ng: - Lm sai, khng lm c: 3. Bi tp ln: - Hon thnh tt: - Hon thnh mc kh: - Hon thnh mc trung bnh: - Khng hon thnh: 9 - 10 im 7 - 8 im 5 - 6 im 1 - 4 im 10 im 7-9 im 6 im 5 im 1 4 im 8- 9 im 5- 7 im 1 - 4 im

9.4. Lch thi, kim tra (k c thi li) STT 1. Ni dung thi, kim tra Ni dung 1 n 5 Lch thi Thi gia k (45 pht u ca gi hc tun th 7) Thi cui k Thi li Theo lch chung ca Trng Theo lch chung ca Trng Lch kim tra Ghi ch

2. 3.

Ni dung 6 n 13 Ton b 13 ni dung