119166362 bai tap lon ky thuat robot 446

7/29/2019 119166362 Bai Tap Lon Ky Thuat Robot 446

1/21

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ROBOT CNG NGHIP

Trng HCN H Ni

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Sinh vin thc hin : Nguyn Vn Khim


2/21

TRNG HCN H NI ROBOT CNG NGHIP

SVTH: NGUYN VN KHIM GVHD: KHNG MINH

LI M U

Vo u thp k trc, tng u tin v robot xut hin, thhin c m chy bng ca con ngi l to ra nhng ngi my c ththay th mnh trong nhng cng vic nng nhc, nhm chn nguy him.Vo khong nm 1940, mu robot u tin ra i ti phng th nghimquc gia Oak Ridge v Argonne ca M, vn chuyn cc hot chtphng x. n thp k 80 trn th gii c ti 40 nghn robot thuc 500kiu do 200 hng tham gia sn xut. Ngy nay robot c s dngrng ri trong sn xut nghin cu khoa hc v i sng. l cc thitb khng th thiu c trn cc h thng sn xut, c bit l cc hthng sn xut linh hot. Robot ngy cng kho lo v thng minh, c

coi l sn phm in hnh ca 1 s ngnh k thut.

Cho n nay, hu ht cc trng i hc k thut Vit Nam a mn k thut robot vo chng trnh chnh kha. Mn hc ny chyu c ging dy cho ch yu cho cc chuyn ngnh c kh, song khacnh ring bit ca n nh k thut iu khin, lp trnh, m phng cngc cc ngnh khc rt quan tm.

Ngy 12-10-2003 xy ra mt s kin, nh du mc pht trinmi trong lnh vc nghin cu, o to v ng dng khoa hc vo cng

ngh robot ti Vit Nam: Hi khoa hc Cng ngh robot Vit Nam cthnh lp. S ra i ca hi phn nh nhu cu cp thit ca cng nghip,quc phng v cuc sng, p ng c s mong mi ca ng o ccnh khoa hc, cc nh sn xut, cc gio s, cc nh nghin cu sinh,sinh vin ti cc trng i hc v tt c nhng ai quan tm n robot.

Kuka l mt loi robot ang c s dng rt rng ri, vi cngsut ln. Ngay sau y chng ti s a ra nhng hiu bit c bn vrobot Kuka. Trong qu trnh tm hiu v lm bi c nhiu thiu st rtmong c s ng gp v thng cm ca qu thy c v cc bn.

Xin trn thnh cm n!


3/21


SVTH: NGUYN VN KHIM GVHD: KHNG MINH2

PHN I: GII THIU S B V ROBOT KUKAKR 1000

Ngay t khi mi ra i Kuka c cng c ch quyn vi nhngsng to rt nng ng trong lnh vc robot. in hnh kr kuka 1000 lmt nh v ch mi trong cc lp hc ca robot nng. Mnh m v nngng, cc KR kuka 1000 lun x l an ton v chnh xc vi nhng thnhphn nng nht.Nng lc ti trng ca n l 1.000 kg - mc cao nht carobot cng nghip, vi mt chui ng hc m, vi mt tip cn ngangrt ln l 3.200 mm v v vn cao ti 5.000 mm. N gip loi b s cnthit cho cc trm thang my, thit b nng h khc. Thit k ca n honton mi cho php tc v sc nng rt ln m i vi nhng loi robottrc y ch l m c: thi gian chu k t ti mc ti thiu, ti trngti a v rt linh hot.

1. Kuka kr 1000 c nhng li th v tn vi cc tnh nng sau:

Mnh hn bt k robot no: Ti trng 1.000 kg, nng lc ti trngcao nht ca tt c cc robot 6 trc vi mt chui ng hc m.

Nhanh hn: Vn tc cao lm vic do FEM v ti u ha trnglng,ng c AC nng ng v nhanh chng thch nghi vi iu kinmi trng. khng gian lm vic: b ngang l 3.200 mm v chiu cao t5.000 mm m ra cc ng dng mi rt linh hot trong sn xut.

An ton hn: Kuka lun gi an ton bo v my tnh da trnphn mm v an ton khi vn hnh.

Chnh xc hn: Sai s do thit k robot ti u.Nhiu phng c ng: Khng c hn ch chuyn ng trc

phm vi do nng lng tch hp v h thng cp nc.

Bo dng thp hn: Qu ti, bo v, ngcbrushless AC servoc s dng trong robot, cc trc chnh c bi trn.

bn cao: Kuka c th lm vic ni m ngi khc khng thlm vic vi nhit cao nh cc xng c, cc l cn thp, chunhit v chu mi mn cc tt khng nhng th Kuka 1000 c th


4/21



khng vi c 2 loi axit v kim .

2. Kuka kr 1000 l robot i tin phong

Khi bn la chn robot kuka, bn c th chc chn rng bn angc s la chn ng n cho mi lnh vc ng dng m bn chn, Kukal mt loi robot ti u. Nh chnh nng lc ca chng ta trong pht trinv sn xut cng thm s chuyn mn ca cc nh thit k trong cc biu khin v phn mm, Kuka cung cp cho bn cc tnh nng khng chhin nay m s vn cn c chng minh hiu qu ca chng trn thgii trong tng lai. Kuka kr iu khin da trn Windows kuka C2,chnh v vy bn c hng li t cng ngh c chng minh dchv hng ngn ln, nn s n gin ha vic ci t, v lp trnh cc robotca bn.

3. Thng s k thut c bn ca Kuka Kr 1000

Gc quay ti a b ngang l 300o


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c im k thut ROBOT KR KUKA 1000


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Ti trng 1000kgTi trng b sung 50kgTm vi phng ngang 3200mmTm vi phng dc 5000mmS trc 6 trcSai s 0.1mmTrng lng 4690kgV tr gn Sn phngB iu khin Kr C2Nhit hot ng anton

+10oC n +50oC (283K n 323K)

Tc chuyn ng

J1(58 o/s (1.01 rad/s)

J2, J3 (50 o/s (0.87 rad/s)J4, J5 (60 o/s (1.05 rad/s)J6 (84 o/s (1.47 rad/s)

Gii hn chuyn ng

J1 = 150oJ2 = +175o, -130o

J3 = +145o, -110oJ4 = 350oJ5 = 118oJ6 = 350o

4. Cc ng dng ca robot Kr kuka v tim nng ti th trng VitNam:

Robot kr Kura c rt nhiu ng dng trong nn cng nghip hini, n c s dng trn nhiu lnh vc khc nhau.

V d: c s dng trong cng nghip t ,cng nghip ch toknh

- Vit Nam robot kr kura bt u c ng dng nhiu, v d cng ty Toyota Vit Nam,Yamaha

- Vit Nam c mt s cng ty bn sn phm ny: CNG TYTNHH SN XUT V THNG MI W.I.N a ch: VnhThnh, i ng, Thanh Tr, H Ni..

PHN 2: PHNG TRNH NG HC CHOKHU CNG TC CA ROBOT


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1. M hnh v bng thng s ng hc Denavit Hatenberg.

Khu di i ai i

1 l0 0*

a0 90o

2 0 1*

a2 0

3 0 2*

0 -90o

4 l4 3*

0 90o

5 0 4*

0 90o

6 l6 5*

0 0


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x0

z0

x1

x3

x2x4

x5

z1

z2z3

z4

z5

x6 6

l

a

a

l

l

Robot KR 1000 v cc h ta 2. Gii bi ton ng hc thun robot:

Ma trn m t hng v v tr khu th i so vi khu th i-1:

,.,.,.,111

*

11 iiii

i

i xRotaxTranszRotdzTransT


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1000

0cossin0

0sincos0

0001

.

1000

0100

0010

001

.

1000

0100

00cossin

00sincos

.

1000

100

0010

0001

1

ii

ii

i

ii

ii

i

i

i

a

dT

1000

cossin0

sin.sin.coscos.cossin

cos.sin.sincos.sincos

1

iii

iiiiiii

iiiiiii

i

id

a

a

T

Ta c cc ma trn bin i thun nht gia cc h trc ta theo D H:

1000

010

sincos0sin

cossin0cos

0

*

00

*

0

*

0

*

00

*

0

*

0

1

0 l

a

a

TO

O

10000100

sin0cossin

cos0sincos*

12

*

1

*

1

*

12

*

1

*

1

2

1

l

l

TO

O

1000

0010

0cos0sin

0sin0cos

2

*

2

3

2

O

OT


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1000

010

0cos0sin

0sin0cos

4

3

4

3 lTO

O

1000

0010

0cos0sin

0sin0cos

4

4

5

4

O

OT

1000

100

00cossin

00sincos

6

5

5

6

5 lT

O

O

Phng trnh ng hc ca khu cng tc:

6

5

5

4

4

3

3

2

2

1

1

0

6

0..... OO

O

O

O

O

O

O

O

O

O

O

O

O TTTTTTT n gin khi vit phng trnh ng hc, ta quy c cc hm lng

gic nh sau:

5,0

i

SinS

CosC

ii

ii

Thc hin tnh ton ma trn trn phn mm Matlab nh sau:Syms C0 C1 C2 C3 C4 C5;

Syms S0 S1 S2 S3 S4 S5;

Syms l0 a0 a2 l4 l6;


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5*4*3*2*1*06

1000;6100;0055;00555

1000;0010;0404;04044

1000;4010;0303;030331000;0010;0202;02022

1000;0100;1*2011;1*20111

1000;0010;0*0000;0*00000

TTTTTTT

lCSSCT

CSSCT

lCSSCTCSSCT

SaCSCaSCT

lSaCSCaSCT

T6 =

[((C1*C2-S1*S2)*C3*C4+(-C1*S2-S1*C2)*S4)*C5+(C1*C2-

S1*S2)*S3*S5, -((C1*C2-S1*S2)*C3*C4+(-C1*S2-

S1*C2)*S4)*S5+(C1*C2-S1*S2)*S3*C5, (C1*C2-S1*S2)*C3*S4-(-

C1*S2-S1*C2)*C4, ((C1*C2-S1*S2)*C3*S4-(-C1*S2-

S1*C2)*C4)*l6+(-C1*S2-S1*C2)*l4+a2*C1]

[((S1*C2+C1*S2)*C3*C4+(C1*C2-

S1*S2)*S4)*C5+(S1*C2+C1*S2)*S3*S5, -

((S1*C2+C1*S2)*C3*C4+(C1*C2-

S1*S2)*S4)*S5+(S1*C2+C1*S2)*S3*C5,

(S1*C2+C1*S2)*C3*S4-(C1*C2-S1*S2)*C4,

((S1*C2+C1*S2)*C3*S4-(C1*C2-S1*S2)*C4)*l6+(C1*C2-

S1*S2)*l4+a2*S1]

[-S4*C4*C5+C3*S5, S4*C4*S5+C3*C5, -S4^2, -S4^2*l6]

[0, 0, 0, 1]

Thay s c th: a0 = 600; l0 = 1100; a2 = 1400; l4 = 1200; l6 =0.

T6 m t hng v v tr ca khu chp hnh cui:


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Ta c h thng cc phng trnh ng hc ca khu cng tcnh sau:

nx = ((C1*C2-S1*S2)*C3*C4+(-C1*S2-S1*C2)*S4)*C5+(C1*C2-

S1*S2)*S3*S5.

ny= ((S1*C2+C1*S2)*C3*C4+(C1*C2-

S1*S2)*S4)*C5+(S1*C2+C1*S2)*S3*S5

nz = -S4*C4*C5+C3*S5

Ox = -((C1*C2-S1*S2)*C3*C4+(-C1*S2-S1*C2)*S4)*S5+(C1*C2-

S1*S2)*S3*C5

Oy = -((S1*C2+C1*S2)*C3*C4+(C1*C2-

S1*S2)*S4)*S5+(S1*C2+C1*S2)*S3*C5

Oz = S4*C4*S5+C3*C5

ax = (C1*C2-S1*S2)*C3*S4-(-C1*S2-S1*C2)*C4

ay = (S1*C2+C1*S2)*C3*S4-(C1*C2-S1*S2)*C4


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az = -S4^2

px = ((C1*C2-S1*S2)*C3*S4-(-C1*S2-S1*C2)*C4)*l6+(-C1*S2-S1*C2)*l4+a2*C1

pY = ((S1*C2+C1*S2)*C3*S4-(C1*C2-S1*S2)*C4)*l6+(C1*C2-

S1*S2)*l4+a2*S1

pz = -S4^2*l6


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PHN 3: ROBOT C MT KHP QUAY V HAIKHP TNH TIN

s 14Cu 3:Vit phng trnh ng hc robotGii bi ton ng hc

1 10

2 20

3 30

1 2 3

0.1sin

0.3sin

0.6sin

, , ?

( )

( )

( )

, , ?

p p p

p p

p p

p p

q q t

q q t

q q t

x y z

x x t

y y t

z z t

q q q

Xc nh quy lut chuyn ng, vn tc v gia tc bin khp q1? Bit:q1(0) = 50; q1(2) = 15

0; q1(4) = 45

0; q1(5) = 75

0; gia tc lin tc ti cc

im cht.V ccbiu v tr, vn tc, gia tc bin khp q1?

I. Phng trnh ng hc:


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16/21



Bng thng s ng hc D H:

Khu di i ai i1 d2* 1* 0 02 l2 -90

oa3 -90

o

3 d3*

0 0 0

Cc ma trn bin i thun nht theo D H:

1000

100

00cossin

00sincos

2

11

11

2

1 dTO

O

;

1000

010

001

0100

2

33

2 l

aT

O

O

1000

100

0010

0001

3

4

3 dT

O

O

Phng trnh ng hc ca robot:

1000

010

*cos*sinsin0cos

*sin*coscos0sin

..

22

313111

313111

4

1

4

3

3

2

2

1

4

1

dl

ad

ad

T

TTTT

O

O

O

O

O

O

O

O

O

O

Nhn vo ma trn phng trnh ng hc ca robot ta thy v tr ca khucng tc:

22

3131

3131

*cos*sin*sin*cos

dlz

adyadx

p

p

p


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Thay cc gi tr

tqq

tqq

tqq

sin6.0

sin3.0

sin1.0

303

202

101

Ta c

tqlz

atqtqtqy

atqtqtqx

p

p

p

sin3.0

*sin1.0cossin6.0*sin1.0sin

*sin1.0sinsin6.0*sin1.0cos

202

3103010

3103010

II. BI TON NG HC NGC:

22

3131

3131

*cos*sin

*sin*cos

dltz

adty

adtx

p

p

p

21

Ta c: Lng tnh tin 22 ltzd p Bnh phng 2 v ca (1) v (2) ri cng vo ta tm c

lng tnh tin 2322

3 atytxd pp

T (1) rt 1sin thay vo (2) ta c:

3

2

3

221

3

2

3

221

arccos

cos

aatytx

tytx

aatytx

tytx

pp

pp

pp

pp

\III. QUY LUT CHUYN NG CA KHU 1

Ta c: quy lut chuyn ng ca khp 1 c dng sau:


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231

12

2

31

01

2

2

3

31

26

23

atat

atatat

atatatat

Ti cc thi im cho: q1(0) = 50; q1(2) = 15

0; q1(4) = 45

0; q1(5) = 75

0

Ta c h phng trnh sau:

21

21

4

5

14525

10416

524

5

3

2

1

0

123

123

123

0

a

a

a

a

aaa

aaa

aaa

a

Vy quy lut chuyn ng ca khu 1 l:

5421

21 23

1 tttt

V vn tc v gia tc:

13

42

3

1

2

1

tt

ttt

*) th hm s:


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a. th hm s ca: 542

1

2

1 231 tttt

b. th hm s ca vn tc: 42

3 21

ttt


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c. th hm s gia tc: 131

tt

119166362 bai tap lon ky thuat robot 446

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