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KHOA CƠ KHÍ CHẾ TẠO MÁY
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MỤC LỤC
EXERCISE..........................................................................................................................3
Bài 3.1..............................................................................................................................3
Bài 3.3..............................................................................................................................5
Bài 3.4..............................................................................................................................6
Bài 3.8..............................................................................................................................8
Bài 3.9..............................................................................................................................9
MATLAB EXERCISE3...............................................................................................10
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EXERCISE
Bài 3.1
i di θi ai αi
1 0 q1 L1 0
2 0 q2 L2 0
3 0 q3 L3 0
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4|Page
Bài 3.3.
Với ap1 = 90
i di θi ai αi
1 0 q1 L1 90
2 0 q2 L2 0
3 0 q3 L3 0
5|Page
Bài 3.4.
i di θi ai αi
1 L1+L2 q1 0 90
2 0 q2 L3 0
3 0 q3 L4 0
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Với ap1 = 90
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Bài 3.8.
Khi cánh tay robot đặt vật lên mặt phẳng {G} thì:
{T} = {G}
=> BTW.WTT=BTS.STG
W
=> TT = BTS.STG. BT-1W
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Bài 3.9.
0
Ptip =0T2.2PTip
T2Tip = [l2
0
0
1];
T02=[cos(theta1)*cos(theta2),-cos(theta1)*sin(theta2),sin(theta1),l1*cos(theta1)
sin(theta1)*cos(theta2), sin(theta1)*sin(theta2),cos(theta1),l1*sin(theta1)
sin(theta2),cos(theta2),0,0
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0,0,0,1];
P0Tip = T02*T2Tip
P0Tip =
l1*cos(theta1) + l2*cos(theta1)*cos(theta2)
l1*sin(theta1) + l2*cos(theta2)*sin(theta1)
l2*sin(theta2)
MATLAB EXERCISE3
10 | P a g e
i di θi ai αi
1 0 q1 4 0
2 0 q2 3 0
3 0 q3 2 0
11 | P a g e
c) Với
T01 =
1 0 0 4
0 1 0 0
0 0 1 0
0 0 0 1
12 | P a g e
T12 =
1 0 0 3
0 1 0 0
0 0 1 0
0 0 0 1
T23 =
1 0 0 2
0 1 0 0
0 0 1 0
0 0 0 1
T03 =
1 0 0 9
0 1 0 0
0 0 1 0
0 0 0 1
Với
T01 =
0 0 1.0000 0
0 0 0 1.0000
T12 =
0 0 1.0000 0
0 0 0 1.0000
T23=
13 | P a g e
-0.9880 0.1543 0 -1.9761
0 0 1.0000 0
0 0 0 1.0000
T03 =
0 0 1.0000 0
0 0 0 1.0000
Với
T01 =
0 0 1.0000 0
0 0 0 1.0000
T12 =
0 0 1.0000 0
0 0 0 1.0000
T23 =
0 0 1.0000 0
0 0 0 1.0000
T03 =
14 | P a g e
0 0 1.0000 0
0 0 0 1.0000
15 | P a g e