NGHIEN CU'U-TRAOD6I V KY THUAT CAT LOT VA TAI TAO CAC MAT KHONG GIAN TREN MAY CMM TOMOGRAPHY TECHNIQUE AND REPRODUCnON OF 3D SURFACE ON PCMM Tr^n Nam Thing Cong ty C6 phiin Co to Nghe An T6MTAT Bdi bdo ndy gi&i thiiu ca s& thiit kd mdy biin dgng 3D kiiu tay robot dira tren mgt tay 2D(XY) dd co sdn Yiu cdu tinh todn de nhdn dipn dugc linh kipn dien tix vai ndng ltic vua du ddp ieng cdc yiu cdu ve dg chinh xdc nhdm tiit kipm chi phi ddu tu Qud trinh thiit ke dd bo sung them bdn trugt tiye Z, bg diiu khiin true Z, chi tgo ddu tieu chudn vd viit phdn mim xu ly so lipu di tong hgp mat cong 3D Thiit bf sau kiim tra cho thdy, ddm bdo chinh xdc kich thieac Uti0yeu cdu dgt cUng nhu dg chinh xdc vi hinh ddng hinh hgc Phirang phdp tiip cgn qua kiim chimg cho th^ stf phii hgp di phdt triin cdc mdy CO dg chinh xdc cao han naa Tfr kh6a: Mdy CMM kieu robot, phuang phdp so tdi tgo ngirgc, cdm biin goc ABSTRACT This newspaper introduces the basis of designing 3D contour measuring machine of robot hand type based on one available 2D (XY) measuring hand Requirement for hardware is identifie electronic components with sufficient capacity to meet the requirements of accuracy in order to sav investment costs The process ofdesign has added the Z-axis slide, Z-axis controller, standard prob manufacturing and written the software of data processing for synthesizing SD curved surface It is showed that there is the accuracy of dimension and geometry as well according to the requirement after testing Via proven approach, it is presented to be pertinent to develop more high-precision machine Keywords: CMM of robot type, numerical method, reverse engineering, encoder DJ^T VAN Bt, thach thuc phai vugt qua cdc thiSt kh giai mS san pham Nhu cAu kiem tra, hoic vol myc dfch sd hda t^o dudng djch dao cho cac may Trong mgt so cong bd tnrdc day, chung cdng CM dieu khien so la rit phd biln Tuy nhien, tdi da trinh bay each giai quylt vin dh dp chinh mky CMM thupc d^ng d$c chiing nen \^ xae cua cdc contuor 2D [9,10] Bh xay di^g thuyet thilt kl mky, d$c bi^t la phin dam bao dp ni$t 3D tu du: li^u 2D, ckn c6 mpt gidi thu£it sdp chinh xdc ph^p khdng dupc cdng bd Day Id xep cac contuor rieng le theo thu t\r dupc '" ISSN 0866 - 7056 TAP CHf CO KHf V I | T NAM, Sd ndm 2016 www.cokhivietnam.vn NGHieNCO'U-TRAOBdl Cdc du: Heu can dupc dinh d ^ g thich hpp dl bilu diln dd hpa tren cac phan mdm dd hpa cd ho tra CAM, nhim su dyng dupc tinh nang lien ket vdi mdy cdng cu Sud\ingV6 A (Visual Basic Application) Excel de viet chuomg trinh Add-in, kit qud xu ly nhu hinh SO LU*OC VE KHA NANG BO CAC CONTUOR 2D CUA MAY Nhu dd ndi d tren, mdy CMM 3D ma chung tdi che tao dupc phdt trien tii mdt mdy CMM 2D, dd se ke thua dii lieu dang 2D Van de can gidi quyet la phdi xay dung dupc m^t cong tur t$p hpp cdc dudng cong dd Trudc tien, phai xu ly d& lifu d d?ng 2D thu dupc Cac tpa dp ndy, tao nen bien dang nhap nhd, phdng to len se the hien nhu hinh f -i 0.1122 0.0898 tfinh Bien dgng dd xd ly hodn thign v&i 1.000 vdng lgp (du&ng mdu dd) De doi chiing dp chinh xae kit qui do, chiing toi da sii d^ng mpt duong miu chuin da dupc xae nh|in tren mpt may CMM khac Can eii vio kha nSng phat hi?n dupc cac kich thuac chuan ciia dudng miu tren may ma chiing toi che tgo de ket luan: ^ 0.0752 Hmh I Bien dgng phdng 1^ bien dgng sau dugc Day Ichdng phai ia bien d^g th\rc t^ cua dudng cong, svr nhSp nho li phat xmig khong dong bg cua encoder vao thai diSm liy mau da djnh trade Bi giai quy^t hi?n tuong nay, c6 the thay cAc encoder co dp phan giai cao hem Day lii each lam ton kem vi kinh tl va khdng phat huy dugc vai tro ciia phAn mim tren sdn phdm co di^n tur Thuong bien d^ng thuc tS se nSm o giiia cac tpa dp ghi nhjta dupc DO li?u diSm sau thu dupc se chuySn sang xii iy bang cich ndi trung dilm ciia do?n thang kl nhau, qua Uinh cii IJp di IJp Iji nhu vay, cho din CO dupc bien dang dii chinh xdc Voi diJ li?u dam may nhu hinh 1, co thi mo ta chinh xic cac bl m^t ky thujt ma khong cin npi suy Hinh Phuang phdp xirly dii ligu 2D duge tren may - Ket qua a vung xa goc miy sai so trung binh li 0.009 (mm); - Kit qua o vimg gin gdc miy cd sai s6 trung binh li 0.006 (mm) Cic bien d^mg 2D d tren tilp tyc dupc xii ly dl t?io hinh mSt cic nghien eiiu duiSi day XAY DVlVG Mi^T CONG 3D Mat cong li tjp hpp eiia nhilu dudiu sinh sip xlp theo mpt trjt tv, dd ein thiet phii bd sung mpt bp trupt tryc Z dl djch chuyin vj tri ciia vat miu (cat Idp) Hinh Bo tri bdn trugt vd gd ddt ehi tiit can ISSN 0866.7056 T4.PCHlCOKHfVl£TNAM,Sd8nam2016 N G H | £ N CLfU-TRAO D O I Thvrc chdt m5i ldn may se cdc bien dang 2D, nhung tdng hpp chung lai vdi vd cdch bdng mdt khodng cdch (zi-z^^ ,j) giCra hai dudng thi se hinh nen bl mat 3D Can tim phucmg phdp sap xep chiing l^i vdi va t^o dupc cdc file phuc vu cho qud trinh gia cdng Budc 1: Sau dupc bien d ^ g 2D, tiln hdnh ldm va chin tpa dp Z vdo cdt C bdng tinh Excel bdng Add-in Quy udc vdi lan dau tien nh$p gid tri Id (ung vdi tpa dp Z=0) Nhung ldn sau sS nhdp vao 0.25; 0.5; tdy vdo ngudi dilu khien mudn khoang each giCta dudng Id 0.25mm; 0.5mm hay 1mm Ket qud ta thu dupc dO li^u xyz ciia cdc dudng sinh a^iaBcBmHalanfifc3D | I Nlijin6itoiw tin dign: I Tm Tw) cic nc-ta (mt): x(i)«^) SbeaK:.!) \ Hold ffmh Sadd thudt lodn vdphdn mem dgng mgt eong 3D OftnmTMHSOHM nCNDMn WT THE Budc 3: Tiln hinh taofileva luu diJ lieu d^g *.xyz, *.txt bang each ndi dai cac v6c-ta x{i},y{i),z{i}) theo thir hf bing cdng cy Vertcat vi DImWrite Matlab2007 M b(i} = [x{i}y{i}z{i}]; c = vertcat(b{:}); Hinh Kel qud cdc Iga dg sau ldm vd them tga dg Z Budc 2: Sii dyng chiic nang lap trinh giao di^n GUI B^ng Matlab 2007 dl vilt phin mim tdng hpp vi v6 biSn djng 3D li "SoHoa3D^Matlab" Thujt loan chuemg trinh ve 3D vi kdt qui thu dupc nhu hinh dudi: dlmwrite('pointcloud.xyz',c,'delimiter' ,',','newline',*pc'); Ddy Id dang file md bdng Notepad nen thudn tifin cho vific dua vdo cdc may CNC, hay md bdng cdc chuomg trinh dd hpa nhu SolidWorks, Catia de chinh sira hodn thi$n bien dang Htnh M&file * xyz Solidworks vd bi mdt da chinh sua ISSN 0866 - 7056 TAP CHf CO KHf V I £ T NAM Sd ndm www.cokhivietnam.vn 2016 N G H I E N CLfU - TRAOOOl TINH CHQN BO PHAN GIAI ENCODER Encoder li linh kipn dien tii co ban diing tren may cua ehilng tdi, no quyet djnh nang phan bi^t cic djch chuyin nhd ciia may Do vjy, qui trinh thilt ke phii tinh toin vi lya chpn dp phan giai phu hpp dim bio yeu td kinh tl vi ky thu?t ciia miy Gii sii budc di chuyin don vi ciia diu dupc cho trade, can xic djnh dp phan giii cua eic encoder trang bj cho moi khdp - Bai toin ngupc: Tir h? phuong trinh dpng hpc cua robot da xiy dyng dupc dudi d?ng: ( !• + (1) Hinh Chuyin dpng v&i bu&c be nhdt aia ddu d giOa hai diim khdng gian Chpn tryc c6 dp phan giii nhd hon hai tryc X va Y ciia may de tinh budc di chuyin be nhit cua diu theo hinSng bit ky mi may cin nhjn bilt, tren ca sd dd tinh la tpa dp eiia dilm tilp theo diu sS di chuyin dio vung lim vifc: (5) Vdi n li s6 tpa d5 suy rpng du dl xic djnh vj tri vi hudng ciia khau cuoi p^ + dx Gpi vj tri hi?n t?i dilm dang xit viing lim vi^e (khdng gian cdng tic) eua tay li: Hay:P,» Tpa dp cjp nh$t vio (3) se nhjn dupc gii trj chi thj ciia eic encoder: = («.« Gii trj chi thj ciia encoder cho trang thai niy dupe tim tliiy tir v i ^ giii h? phucmg trinh sau: ( p,={q,q , ,? (4) ? (7) Nhu vfly, moi encoder di thyc hi^n mOt di chuyin li: (8) (3) Gii su pi khdng gian khdp t?i tr^ng thii hifn thdi dupc bdi cic encoder: (6) p^+dz (2) Tiong do: (x,, yp z,) md ta vj tri khau tic dpng cudi; (a, p,, Y,) md ti hudng khau tic dpng cudi Piy+dy Gpi n li dp phan giii (n li so xung/1 vdng quay), n dupc xic djnh tii bat phuong trlnh: (9) ISSN 0866-7056 TAP CHl CO KHl VI$T NAM, Sd nim 2016 www.cokhivietnam.vn NGHIEN CLfU-TRAO D O I Sau tfnh n vd tham khdo cdc lo^ cdm bien tir nha sdn xudt dfi chpn lo^ encoder cd dp phdn gidi ldn hon gid tri tinh dupc £)di vdi v i ^ gidi quyfit d$ng hpc bdi todn tren, cdn md hinh hda cdu hinh thuc tl ctJa thifit bj vd tinh todn trfin Iy thuyet Xetrobot3 khau nhu hinh 10 Bdng 2: Ket qudtinhtodn encoder dl(max-imn) 0.059999844 jj2(max-niin)_, ^3(mfK-inin) 0.000400813 0.000325663 i)d phin giii ^DpP&giii 15668.14545 19283.73223 Nfiu ldy dp di ddng tvr cua tdm bdn tay khdng qua mdt m$t cdu dudng kfnh 0.06 (mm), cdn su dung hai encoder cd sd xung dd ldm trdn Ifin khodng 20.000 (xung/vdng) Tfnh dfin cd vi^c nhan xung ldn bdn thilt kfi ndy, chung tdi chpn hai encoder 5.000 (xung/ vdng), model E40S6 - 5000 - - 24 ciia Autonic Ddng thdi, vdi lupng dich chuyfin dl = 0.059999844, ta hoan todn tfnh chpn dupc bO tnrpt vft-me bi vd md-to dan dpng Hinh So dpng hpc tay du&i dgng 3D Ktr Ma t i ^ Tj cd d ^ g nhu sau: 1(10) Sur dyng phuong phdp sd [5,11,12] dfi xdc djnh cac bien khdp d^q^.q, Phucmg phdp ndy sfi Idm b^c Id quan h$ di chuyfin nhd glQa ngd vdo (d4u do) vd ngd (cdc encoder) thay cho vi^c dung ma tr$n Jacobian truyen thdng Tren ca sd tfnh todn dupc d0 phdn gidi cua encoder cho tiing khdp Gid sur sai sd md td bdi m^t cku cd dudng kfnh Id 0.06 mm vd sd difim khdo sdt Id 1,2,3.4,5,6 LU^ Vdi m\ic tifiu d$t Id thilt ke, che t^o vd thir nghidm thifit b) sd hda bifin d ^ g 3D Chung tdi dd phdt trifin mpt phuang phdp thilt kfi ngupc tu dp chinh xdc bifit trudc cua phfip gidn tilp tfnh d$ chfnh xdc cua cdc phfip true tiep Bdi todn ngupc vfi dp chfnh xdc, ludng gidn tifip dupc gidi bdng phuong phdp sd vdi d$ chinh xdc cao vd cd tinh tdng qudt Cdc h^n chfi vfi phan cung ciia mdy da dupc bll l^i trfin phdn mem, phuang phdp tfnh todn dd ddm bdo dupc cd hai yfiu c4u Id tinh kinh tfi vd tinh ky thu$t Mdy chl tgo thdnh cdng da thu nghidm tinh ndng cd d$ chfnh xdc tucmg duang vdi cdc mdy thuong mgi, phdn Cling vd phdn mem dang su d\mg ciing nhu phuang phdp tinh todn hodn todn thfeh hpp dh tgo cdc mdy cd dp chfnh xdc rit cao Difiu ndy, ciing dung sii dyng cdc cau triic song song ho$c cdc cdu true cd sd bgc t\r ldn hem mdy thu n g h i ^ bdi bdo • = Hinh 10: Xe djch phgmvi cho ph^ cda ddu ISSN 0866 - 7056 TAP CHf CO KHf VI$T NAM, Sd ndm 2016 www.fnkhiviptnam.vn NGHlCNCCfU-TRAODtM Ngdy nhan bdi: 05/7/2016 Ngdy phdn bifin: 18/8/2016 Tdi lifn tham khao: [ ] Mitutoyo Corporation, Linear Gage, "Dimension sensors offering superb durability aruJ environmenlal resistance suitable for in-line measurements" Catalog No E4174-542/572/575 [2] Kosaka Labotory Ltd, "Contour Measuring Instrument Formcoder EF650 Standard Specifications", Specifications No E-0201ER2 [3] Wu.C.H "Robot Accuracy Analysis based on Kinematics" IEEE Joumal of robotics and Automation 1986 [4] Nguyen Thi$n Phuc; "Nghien cuu, thiet ke, che tgo cdc robot thdng minh phuc vu cdc img dyng quan trpng, nhdm sdn phdm robot RE"; Dfi tdi KC 03-08, Ha Noi, 2006 [5] Pham Thanh Long; "A New Method to Solve the Reverse Kinematic Robot Problem", ISTS "Iliaiteiid, 2012 [6] Qiu Zurong, Shi Zhaoyao and Li Yan, "The Research of Machinery Manufacturing Measuremeta Technology" China Engineering Science, vol 12, pp n-19,October,2010 [7] Wei Peng, Xuegang Wang, Bin Tang, and Hongang Wu, "A novel analydcal method and error criterion of the synthetic range profile, IEEE Transl." vol 2, pp 1648-1651, October 2010 [8] Weckemnann A, Peggs G, Hofimann J, {2006) "Probing systems for dimensional micro- and nanometrology" Meas Sci Technol 17, 504-509 [9] Pham Thanh Long, Ly Thanh Minh; "Thiitki che tgo vd img dung mdy PCMM kiiu robof Tap chi Ca Vi?t Nam, s6 11/2014 [10] Pham Thanh Long, Ly Thanh Minh, Bdo cfc tdng kit de tai nghien cmi khoa hpc co so, Tmdng Dai hpc KJ thudt C6ng nghi$p Thdi Nguyen, ni3 so T2014-16: "Thiit ki, che tgo vd thu nghipm may PCMM kiiu tay robof*, 2015 ISSN 0866 - 7056 TAP CHl CO KHl VlfiT NAM, S6 nam 2016 www.cokhivietnani.vn ... LU*OC VE KHA NANG BO CAC CONTUOR 2D CUA MAY Nhu dd ndi d tren, mdy CMM 3D ma chung tdi che tao dupc phdt trien tii mdt mdy CMM 2D, dd se ke thua dii lieu dang 2D Van de can gidi quyet la phdi... chinh xae kit qui do, chiing toi da sii d^ng mpt duong miu chuin da dupc xae nh|in tren mpt may CMM khac Can eii vio kha nSng phat hi?n dupc cac kich thuac chuan ciia dudng miu tren may ma chiing... dyng dupc dudi d?ng: ( !• + (1) Hinh Chuyin dpng v&i bu&c be nhdt aia ddu d giOa hai diim khdng gian Chpn tryc c6 dp phan giii nhd hon hai tryc X va Y ciia may de tinh budc di chuyin be nhit cua