dy DAP AN DE THI CUO! HQC KY I 2017-2018 MON: KY THUAT ROBOT €T 300 5 Thai gian: 90 phit SV dugc sir dung tai ligu, khéng sir dyng Laptop (Sink vién nop Igi dé thi) Cau 1. (34) a) Trinh bay chi tiét hiéu biét cua ban vé tay may: - Trong tai ligu ging day b) Ty én phuong dn thiét ké, ché tao tay may thy hign mOt the vy oy thé. Néu r3 cde bude céng vigc, huéng nghién citu cdn phai thyc hign. - Trong tai ligu ging day Cau 2. (54) a) Bang théng sé D-H: (1d) Khau a 6 dj a 1 -90° 6; cn 02 0 6 0 a 3 0 6 0 as 4 -90° 6; 0 0 5 0 6; ds 0 b) Ma tran bign di: (14) fcos(@,) 0 —sin(6,) 0 A, =|*9@) 0 cos) of a 0 -1 0 ay}? o 0 Oa jcos(;) —sin(@,) 0 a,cos(6,) ‘Ap=|in@.) cos.) 0 azsin(®,) a 0 0 1 0 ° Oro ea Jcos(@;) —sin(@3) 0 a;cos(63) ‘Ay = |5iM@:) cos(@z) 0 a3sin(9,) a oO 0 1 0 o 0 0 1 cos(,) 0 —sin(@4) 0} Ay = 450@,) 0 cos(@,) 0] 7 Oo =-1 0 of” oO o o 1 jcos(@) —sin@@s) 0 0 Ag =|SiM@s) cos) 0 9 7 0 0 1 ds}? ov vu vil Xy dyng ma tran bién di thudn nhét : Tg — AyAzAsAdAs S155 + CxesCoay —CsS234 €5$1 — CrCeagSs SsS204 o —CaSzaa C4 (A2C2 + AaCrg) — dy caSzs¢ = [Ostza48 C185 —Ca¢5— CaseSaSs —S1S234 S4(@2C2 + agra) — ds 15234], dy = dsca94 — a2S2 — 29825 1SaSs +CrCsC23q C581 — 1023485 —C4 S234 &sC2a481 — Ci$s_ Cis — C23451-55 Si S294 —CsS234 SsS2a4 ~C234 $1 (@2 C2 + ag¢23) — dsS1S224 fre + agtes) — dscaS2s4 d dy — d5Coaq ~ A252 ~ ag523 ©) Dong hoc nguye : (14 ~ Tinhdl: C y sa Mt are fee é 3 +G a=e Néu r # 0:0, = atan2(s;,c,) Néu r= : 8, = Orrre ~ Tinh 9s: {ooes =—(cos O, «a, + sin®, + a,) Coaq = Oz Te/Szas > Os = atan2(s5, cz S/S: 7 (S55) cs = Né # of feu S24 55 N&U Soaq = 0: 5 = Ospre (trang thai truréc 46 cia 85) — Tinh 63: c+c3+@,-G) -a}- a} 20,03 & Néu cy € [151]: 03 — Oapre (trang thai truéc d6 cia 02) Pee Nu cy € [-15.1]:53 = ty 1 — cos? 0; + 6 = atan2(sin®,,cosds) — Tinh 62:(az + a3Cz) + 953 (dy ~ C,) O° Cat aga + aay Caz + @3¢3) — r(a353) (ea + agen)? + (@g59! (dy = Néu ci +s} ~ 1:6, — atan2(s,,c,) Néu ch 453 41:8, loore (trang thAi trivéec 46 cin Ay) — Tinh 64: {i ~ SzaS2aa t C2aC234 Sq = C2982 — SzaCza4 Néu ci +s} = 1: @, = atan2(sy.c4) Nu cj +s} # 1:8, = Oyyy, (trang thai truéc dé cia 84) 4) Jacobian : (14) yal ta ta Ia Sa Se Wa Ser Se Sua Ses, He Bem + dss) G5, +055 + dsl) GCOS + dee) — Coma 5-0, ~ Oey + dS) GM se + MCs ~AsSrye) (0S, +45 +5504) ~H(GS3 4+ dy) Heady G (440, +040, — yy.) a - Bey tdsiy Cy + Sully Sauls 0 : ‘| a * s “454 7 4 4 4 “Ss 1 0 0 0 “Cue ¢) Diém ky di: (1) SiMe 2 — A095 + Syx4ds) —C(A,S, +4835 + Crys) ~Cy(5S + Crug) (Aaa +509 ~Srreds) 8(S, + 3833 + Crys) (A525 + Crys) 0 Aly — Alor +S rudy A503 + Sys det.) = 4, (a ye + 4303 — Sy445)L48, + Cys] ad — Tacé:— Laicé: G,C, +AxCy, — Sd, =0 sy, + OS, Sc, S a, + a,c, —dySy4 a, tae, -d,s, > tan(9,)= 2S C54 + AySy a, +a4¢; 8, = in ( 78d Cy, +553 ‘Cau 3. (24) Xay dymg phuong trinh déng lye hoc tay méy 2 bac nh hinh sau:+ Ta cé van t6c dai va van the géc cia ting khau: -Lasing, 0 Wi=dd=| Lyoosq, 0 7] 0 ve =,9 ~L sing, Le, sin(a, +4) —Lssin(a, +a.) p51 =| Loosq, +4,,008(4,+¢2) Le2c0s(q+4,) *] t o ° + Van tbc g6c cla ting khau: a9! 10, = 4 Jala) Ra VRAa) J4(0)8 cosq, -sing, 0 ‘cos(q,+9,) -sin(g, + 4,) | R(q)=| sing, cosq, 0 o 0 14 las 9 0 oo 0 0 * b 0 0 bay 0 oO}. a=J,G=|0 0 ‘| & =J,4=| + of% + Phan dong nang tir chuy&n dong xoay: sina, +42) cos(q,+9,) 0 0 0 1 | R= =8S odo E Kendo {Enel aoril coh fee -sing, Of!,,, 0 © [oosq, sing, O70 0) Sana, con, of 6 0 0 [sng caso, 0f0 olfa o 0 tho omf oo afr a 1, [fo 0 9 fcosiq, + ¢,) -sinig,+4,) Of ln, 0 cosa,+¢,) sina, +a) OTO 0) wit of siiacea) coder) 0f 9 0 o | ane conta) 090 ° +4 o «tho ont 0 1 talfe fe & 2% lo oll, 4,+ Téng dong néing cia hé a: kK =har{Sma4, + Jada} 1 r it 10 1 - satnacisoma'tot lt Te + Ma tran quan tinh: aft Oe 20-[a a + Vi ting hé sb: dy = mia? tim (Li + Ls + LL, sin(g )SiN(g, +92)+ Le €08(q, Jeosta, + 4:1) +4 +1 dy = dy = m(L,3° + Lad, Sim (q,)8iN1q, + 4,)+ LL, €08( 4, )eostg, +4,))+ Fy dy, = yh, +1, * Vi cosacos# + sinasinf'= cos(a- ), ta rit gon dugc cdc thanh phan cia ma tran quan tinh: hy = Lg? + lL? + Ler? + Aer 608(a,))}+ 4 + y= Mla? + ie 0840, ))+ + Ta xéc dif BuGene'S6 Christoffel =f{Ma Sa Sa. 2] Aq, * 2a,” 2a, oi = 2 Sia Ss _ a) 2 leq, ca, Aa, f° 2a, caro fe mtd sne ¢, t= Melle: Sing: > VOI k= 1 (khau 1) 2Yea, ” ea a By 2d) _ 1 Ed a, Oa, a 2 aq, Aten 21 2dn tnd «$e ° Voi k=2 a (ieee aa, | 2 (knau 2) a1, uh fH aes a ) | { + X4c dinh ma trén C: car Shel | (mbLssin+ Thé nang tisng khau cia he: P=mgl.,sing, + Vesto gia eam ging +Lasin(g, +92) % -= = (rd. + m,L,)9 0084, + M9 COs(9, +9) = i = ML29 081g, +42) + Téng hgp lai ta 66 phurong trinh chuyén dng cia hé: ids + rads + Crass + Carshs + Canta + Gad, + Grae + Cra’ +92