Đánh giá độ chính xác lặp của rô bốt pegasus

NGHIEN ClJU - TRAO DOI DANH GIA DO CHINH XAC LAP CUA RO BOT PEGASUS Nguyen Trpng Doanh', D6 Anh Tban^ 'Viln Co khi, TrUdng Dgi hpc Bach khpa Hd Ndi ^TrUdng Dgi hpc SU phgm Ky thudt HUng Yin T6M TAT Mgt cdc tinh nang quan trgng cua rd hdt cdng nghiep co anh hUdng quyi't dinh d^n khd ndng iing dung cua no Id chinh xdc lap Hiin nay, hdu het cdc rd bdt cu vd mdi diidc nhdp khdu ve Viet Nam deu chi dUa vdo cdc thdng sd ngUdi sdn xuat cung cdp, khdng cd thiet bi de kiem tra lai cdc thdng so ndy cd ddm bdo hay khdng Mot he thong do chinh xdc lap vdi bac tU da dUdc thiet ke tqi TrUdng Bai hgc Bdch khoa Hd Ngi He thong ndy cho phep thu thdp dong thdi dU lieu vi tri tren kenh vd ghi lai dUdi dang tip Excel Su" dung phdn mem Statu 8.2 ta xdc dinh dUdc phdn bo cua sai sd vi tri theo ba phUdng X, Y,Z vd xdc dinh dUdc cdc chinh xdc lap tUdng iing ABSTRACT One main characteristics of the industrial robot is the repetability Actually the new or used robots imported into Vietnam, there are only the characteristics given by the supplier and the users can't know whether the given characteristics are correct or not One repeatability measuring system with DOFs has been developed at HUST This system allows to acquire measured positioning data in parallel channels and to achieve in Excel file Using Statu 8.2 software we can estimate the distribution of positioning errors on three axes X, Y,Z and determine corresponding repeatabilities TAP CHl CO KHf VIET NAM V S6 (Thang nam 2012) NGHIEN CUfU - TRAO OOl GICdTHlEU tliiiili s.ic l.ip cd ilic i,il ldi nliLiiiK chinh xai Um Ii.ii v\ m l,nl c Jiinli \,ic l.lp deu ldi, nliiing klidng bi chit luong sin pham IXii l.i, hi.i IJiu.i ,1c i;i,iiii i',i.i nli.iii, \i ili; 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cu.i in hoi elude dinh uehu theo tieu chuan ISO 9:2,s^ gom; l.ii liong, i,ic do, i;ui tdc, chinh xic vi diiuh x.ic l.ip ( li.il Innni; cua rd bdt phu thudc ehu \en \.in Jn dunh x.ic \,i chinh xic lap Do chinh x.ic l.ip \ ,i dn chmh x.ic thudng bi nham lan dd khdng dnoc dinli nghia nidi each rd ring Dieu cin thiet de diinh gid ca dp chinh xic lan chinh xic lap la sif dung sai so rd liot thuc hifn qua trluli quay trd lai dieiii hip trinh khdng gian lam \ ice cua mi, Sai sd na\' dilde xac dinh bdi ban kinh tii diem dudc lap trinh den diem gdc hay diem chd eua id hdl Rd hdl cii ihe cd chfnh xic cao, nliUng ehiuh x,ic l.ip khdnu thip va ngUpc Iai Do chmh xae eii.i iii hoi duoe dinh nghia li sai sd ldn nhat xung quanh diciii diioc lap trmh trUdc vi nd diide gidi han bi'vi xdng i inn co bin kinh li sai sd vi tri Icin nhiil, Dieu n.iv noi leu rd bdt cd the dat gin den diem hip ninh lian nhieu, Khi vi tri tuyet ddi cua ni hoi du.ic \a so s,inh vdi vi tri duac dieu khien den llnda) chmh l.i do chinh xac Dp chinh x.ie co ihe diinc cai lliieii hiii CO cau W Ilia hay cam bieii lil ben ngoii, \-i du nhu he thdng quan sat bang hinh anh hay he Ihdng hniig ngoai Dp chinh xic cd the ihay ddi iheii ldc do, x'i tri mien lim vifc va lai trong, Dd chinh xac l.ip cho thay nang rd hot quay trd ve vi tri dupe l.ip trinh tdt den mdc nio Dieu khdng gidng nhu chinh xic Dd chinh xac lap dUpc bdi miic dd tap trung cua vi tri dupe djnh vj so vdi diem diidc lap trinh va dupc xac dinh hiii plnin bd (iaiiss Dp TAP CHi CO KH I V1 ET NAM I huh I: llo chlnil en hinh l.ip I-11, fl \.K \\!i LIIIHII xac lap Ll ph.in bo Liia rd bdt the( HR: Hinh 2: I'lian bd eiia id bdt Iheo dci ehinli xic lat Sd (Thing nam 2012) NGHIEN CUfU-TRAOD6I PhUdng phdp xac dinh dp chinh xdc lap phu thudc vao sai sd vi tri dUOc qud trinh thi nghiim so vdi vi tri dUpc lap trinh san Trln thUc tl, dd chinh xac lap dupc xac dinh bang ba lan phuong sai tieu chuan De xdc dinh phuong sai ta phdi tiln hdnh khodng 100 -^ 200 thi nghiim Vdi h i thdng vi tri kinh dde lap duoc thilt k l tai Vien Co khi, TrUdng Dai hpc Bdch khoa Ha Npi [5], ta ed the dupe sai l|ch vi tri thep phUPng X,Y, Z va sai sd dinh hUdng cua rd bdt khdi hop Vdi sdu cam bien bd tri theo ba mat phang nhu trln hinh ta cd the xac dinh dUpe sai sd vj tri eua khdi hop so vdi dm bdn HinPi 4: Vl tri bd tri cdm biln RO BOT PEGASUS VA Hfi THONG DO CO d d c n i i h X, s lap i h dudc chuan bans 11 IX \Xl 1u n h h c Charateristics o( Output Voltage |\ 1