THIT K C KH

1. Yu cu:
Xe c kt cu nh gn, khng rung lc.
Xe c kh nng chy vi vn tc ti a 1.5 m/s, gia tc l 1.5 m/s2.
Xe khng b lt khi chy qua cc on ng cong vi bn knh cong R=500 m/s.
2. La chn bnh xe:
a) Bnh ch ng:
Trn th trng hin nay thng s dng cc loi bnh xe V1, V2, V3 vi ng knh t 40-80 mm
, ngoi ra tham kho kch thc xe ca cc xe ua, nhm chn bnh xe cao su thng thng,
vi ng knh 65 mm tnh ton.
b) Bnh b ng:
Hai loi bnh b ng thng c s dng cho mobile robot l bnh mt tru v bnh caster.
Tuy nhin c im ca bnh caster l khong cch gia trc quay v trc bnh gy ra hin tng
shopping-cart lm nh hng n phng trnh ng hc ca xe. trnh hin tng ny v tn
dng c c im ca s nguyn l, bnh mt tru c la chn lm bnh b ng.
3. La chn ng c:
xe chuyn ng, ng c c vai tr cung cp moment cho cc bnh. Qu trnh chuyn ng
ny chu nh hng ng k ca khi lng xe v ma st gia bnh xe v mt ng.
M hnh ton cho mt bnh xe c th hin Hnh 1.

Hnh 3.1 M hnh ton ca mt bnh xe

Moment qun tnh ca bnh xe c tnh gn ng:

1
I = m R2
2
Cn bng moment quanh tm bnh xe, ta c:
Fms R=I
> =I+ F ms R
Cn bng lc theo phng ngang, ta c moment cn thit cho ng c:

( 12 M +m) a

Fms =

( 12 M +m ) a R+ I

> =

bnh xe ln khng trt, th moment

phi tha mn iu kin:

F ms R + I
Mt khc:
Fms =

( 12 M + m) g

>

( 12 M +m) gR+ I

Cng sut mi ng c cn cung cp:

P=

Trong :
I( kg.m2): moment qun tnh ca bnh xe.

(N.m): moment.

m(kg): khi lng ca bnh xe.

a(m/s2): gia tc di mong mun.

M(kg): khi lng thn xe.

g(m/s2): gia tc trng trng.

R(m): bn knh bn xe.

Fms(N): lc ma st.
(rad/s2): gia tc gc.
vmax: vn tc di mong mun.

P(W): cng sut mi ng c.

(rad/s): vn tc gc.

: h s ma st.

Cc thng s u vo ca xe:
vmax
R
M
m
a

1.5 m/s
32.5 mm
0.8 kg
0.025
1.5 m/s2
0.8

g
H s an
ton

9.81
3

T cc thng s trn, ta tnh c:

v max
1.5
rad
= =
=
=46,15( 2 )
t
Rt 0,0325.1
s
Moment cn thit cho ng c:
cn thit =

( 12 0,8+0,025 ) 1,5.0,0325+ 12 0,025.0,0325 .46,15=0,0213 ( Nm) =21,3( Nmm )

2

Moment ti a ln khng trt:

max =0,8

( 12 0,8+0,025 ) 9,81.0,0325+ 12 0,025.0,0325 .46,15=0,109 ( Nm) =109 ( Nmm )

2

Tc c ca bnh xe:
n=

30 30 v max
30.1,5
vng
=
=
=440,74

R.
0,0325.
pht

Cng sut yu cu ca ng c:
P yc= cn thit =0,0213.

440,74.
=0,983 ( W )
30

Vi h s an ton l 3, ta chn:
Pc =3. P yc=3.0,983=2,95 ( W )
Vi thng s nh trn, ta chn ng c DC ESCAP 16G88- 214EMR19
( = 540 vng/pht, = 4,5W)