DE THI CUO! HQC KY I 2018-2019 MON: KY THUAT ROBOT Théi gian: 90 phat SV duge sir dung tai (Sink vién np Iai dé thi) gu, khong sir dyng Laptop Caw 1. Gd) a) Trinh bay chi tiét hiéu biét ciia ban vé tay may: + Cée khai nig, quy ude, thu = Phan logi tay may = Téng quan vé céu tg0 tay may - Uw/Nhuge diém cia timg cdu tao, bo phan trong tay may gtr chuyén nganh thong dung b) Ty len phuong dn thiét ké, ché tao tay may thyc hign m@t téc vu cu thé. Néu 13 quy trinh thye hign céng vige, cae céng cu phin cing/phin mém hé trg d& biét va céc nGi dung nghién ctu cén phai thye hign Chu 2. (Sd) Cho biét: ~ Tay may Scara, 4 bac tyr do ~ Thong s6 tay may: Thong s6 Gia iTai trong (kg) 6 Céinh tay (mm) 325,275 ‘Tam véi lon nat 600 Joint 1 264(#132) Tam hoat dong [Foint 2 300(+150) . Joint 3 200 mm Joint 4 720¢=360) Yéu cu: a) Lap bang thong sé D-H b) ° 4) ° Xée dinh ma trdn xoay vi vector vi tri ea diém End-Etfector so véi g6c toa d6 tay may. Vé téng quat workspace cla tay may Scara, é tinh cac géc khép Gidi bai ton dong hge nguge tay may Xée dinh ma tran Jacobian (J) Xéc dinh diém ky di cinh tay Clu 3. (2d) Xay dung phuong trinh dng luc hoc cho cénh tay hai bic ty do RP Cho biét: + mi(i=1, 2); Khdi lugng canh tay i = 1, (GPL, 2): Chidu dai canh tay i M2 (Het)DAP AN DE THI CUOI HQC KY I 2018-2019 MON: KY THUAT ROBOT Thai gian: 90 phat SV duge sir dung tai ligu, khong sir dyng Laptop ¢ Sink vién np Igi dé thi) Cau 1. Ga) a) Trinh bay chi tiét higu biét cia ban vé tay may: ~ Trong tai ligu gidng day b) Tulén phurong an thiét ké, ché tg0 tay may thyc hign mot tac vy on thé, Néu rd cic bude cdng vige, hung nghién ciru can phai thye hign = Trong tai ligu gidng day Cu 2. (54) at Hinh 2.1: Mé ta cdc bién khép ciia Robot Seara. Dya vio hinh 2.1 48 xéc dinh cic bién khap va cdc thong sé trong bang D-H: Bang D-H cho Robot Seara: Link a ic a 0 1 a ‘0 ~ di or 2 a 180, Oe or3 0 0 at 0 4 0 ie ds a" (Hé true toa d duge chon nhw hinh vé) 1/ Tinh toan d6ng hoc thud Ap dung céng thite Co S060. $4, So, aly A, So, ly Sq, FSo, 0 5, ce, o 0 0 1 Vay ma trn dng hoc thudn: 5 0 agye: 5; 0 ae] 00 TadAdae|i % O ass —e 0 as /0 00 0 0 1 40 0 -1 0 jlo ld 0001 o 0 1 fo o1 Ce 52 (9 ata tage, -s, 0 0 _|se -¢2 0 @sntas;[. co 0 0 “10 0 -1 d, 0 0 1 d+d, 0 0 0 1 oo 0 1 Cle + Sia%4 ~CSe #51204 Sale Cae S284 CCa 0 0 0 -1 0 0 0Tinh todn d6ng hoc nguge: HE Hinh 2.3: Hinh chiéu tir trén xuéng ciia Robot a? + px? + py? — a3 2a. f (px? + py?) sing = +1 - cos? 6, = atan2(py,px) atan2(sing. cos¢) a) cose Lai co: Sines) —Crzi-ay 0 aS +45, |_|ny sy ay DY 0 0 <1 dy—(dy+a,)P]m2z sz az pz 0 0 0 1 0 0 o 1 Ci-4) Sta) gey # GC f sx ax (Ma tran dong hoc thuan) pxsin, — pycos8. = a,(cos(@, + 82) sing, — sin(O, + 2) cosé,) = a,sin(-6,) : cost, — pxsindy sind, = ——————— agpxcos@, + pysinO, — a; = az(cos(@, + 8;) cos, + sin(@, + 42) sin6,) = aos, xcosO, + pysind, cosAz a 02 = atan2(sin62,cos@,) (2) ds = dy —z—dy (3) 04 = 0; +0; — atan2 (sx, +V1—sx*) (4) Dong hoc van t6c: ee §=la=) ¢ 8, Ma tran Jacobian = feRGen wy exten a) 22x Geen) y= Z ty 0 0) Oye faye, + 2042 faycy + A202 pe ele pees peas 0. ay dy dy dy ney basta 1 ~~ ay 0 0 2% = 2, =|0)z2= 23-1 0 1. 1 0-1 0) [ares t aces 2X (0g-0)=]1 9 O}.| @15;+@25. io 9 od lay - a = fo -1 OFF C12 %Xx(oy-0,)=]1 0 Of.| @aSi2 o 0 ol la 14151-82517 036 + ants 0o 1 0 2x (o4-03)=|-1 0 0 0 0 c |-f) eames —ay8,-025;2 —O35;2 0 ye + G22 3Cq2 oO oO i} - ° o 0 0 0 0 1 1 0 Diém ki dj cia tay may xdy ra khi det, mays a2Syz — 0S: 0 det|aye,+ ase ascyy 0 =0 ° 0 =1 (011-2812 )a2¢42 + @251(0,¢, + C3 hay 0, Cau 3.(2d) Cac phurong trinh lién quan: 6050 sind (1, + )c0s8 %, = FeosO—(7, +1,)0sinO sinO +(%, +1,)0cosO Van téc khdi 1 va 2Dong nang Thé nang P =mgr;sinO P= m.g(y,+1r,)sinO P= (m,+m,)gr,sin8 + m.gr,sin® Ham Lagrange (mm, +m, gy sin O = mgr. sind = Lerma + my #1) 0+ bm Moment cho géc quay T, = Orn + mgr, + YO + my +1, As) + (m, + my)gr, cos 0+ mygrscos 8 Lye cho tinh tién 5 — m(y, +)O + mgsind ‘Viét dang vector mit, tny 0 6], oe 0 m, |i 0 0 as [ (dm, +m,)r, +myr)gcos®] _[ 7, + a+ 2 = =n(7, +4) m,gsin® F, Sy 1s Aguyén Vink Ho