NGHIEN CUfU - TRAO OOl THI^T Kg HE T H N G DO Dp CHJNH XAC LAP CHO RO B T CONG NGHI| DESIGN OF THE REPEATABILITY MEASUREMENT SYSTEM FOR INDUSTRIAL ROBO Nguyen Trpng Doanh TrUdng Dai hpc Bach khoa Hd Npi TOM TAT Xu hudng tu ddng hod qud trinh sdn xudt ngdy cdng dUdc chu y phdt trien d Viet Nam Viic dung rd bot cdng nghiep thay the cho ngUdi cdng nhdn dang trd thdnh nhu cdu khdng the thiiu dU nhien, cho din thdi diem hiin nay, viec ddnh gid chdt lUdng cua rd bdt chUa dUdc quan tdm dun Mot cdc thdng so quan trgng nhdt, dnh hUdng trUc tiep den khd ndng Ung dung cua rd bot Id chinh xdc lap Trongphqm vi bdi bdo ndy, tdc gid trinh bdy ve thiet kecua mgt he thongdosdu phdn dung de ddnh gid chinh xdc lap ve vi tri vd chinh xdc lap ve djnh hUdng cua rd hdt cdng ABSTRACT Trend of the automation of manufacturing systems is more and more concentrated to develo Vietnam Application of industrial robots becomes a avoidable demand However the evaluation industrial robot's performances isn't correctly interrested One of the most important robot's para is the repeatability In this paper, autor represents a design of a measuring system with six comp which is capable to evaluate the repeatability of robot in positionning and in orientation DAT VAN DE ca bdn deu tuong ddi gidng nhau, la: Viec ddnh gia chat lU(?ng cua rd bot cdng nghiep nh^p khSu, qua trinh ldp dait van hanh vd sil dung Id vi|c lam can thilt, bdi nd lien quan din tinh hi|u qud ciia iJng dyng qud trinh san xuat Tuy vay, cho din thdi dilm hien nay, d nUdc ta chUa cd thilt bi de cd thi danh gid dupc chat lUpng cua rd bdt cdng nghi|p De cd thi danh gia dUpc chat lu^ng ciia rd bdt cdng nghiep, trUdc hit ta phai dUa vdo cac tieu chi ky thu^t nha san xuat cung cap Cac lo^i rd bdt cd khdc ve cau tao nhUng cdc thdng so - Sd bac ti^ do; Tdc dp chuyin dOng tinh tiln, tdc dp chuyS dpng quay; - Dp chinh xdc l^p; - Sai sd dinh hUdng; - Khdng gian ldm vi|c; - Tdi trpng cUc dai TAP CHi CO KHf VIET NAM • j Mdt chi tieu quan trpng nhat ca chi tilu chdt lU(?ng cua rd bdt dd Id dd chinh xi lip cua rd bdt cdng nghiip Dp chinh xdc l?p cu S6 (Thang D a m | ^ NGHIEN CUfU - TRAO e(!)l rd bdt la mi5c dp t^p trung cua sai sp trpng qua trinh dinh vi ciia tpa dd diem cudi cua rd bdt den mpt vi tri xac dinh Theo cac nghiin cUu tii trUdc den thi dp chinh xdc lap ciia rd bdt nam khoang tU +0.05 m m d i n ±5mm vd khodng 70% rd bdt cdng nghiip cd dp chinh xdc lip khdng qud ± l m m Thiet bi diing de danh gia dp chinh xdc lg.p cua rd bdt thUdng rat dat tien vd kha nang Ung dung Cling rat khac Trpng lu^n van tiln si ciia minh, Brethe [1] da sU dung nguyin ly truyin thdng la khdi mau hinh hop, dupc dinh vi bdi rd bdt vao khdi am ban cd gdn ba cdm bien dich chuyen ^im cua Mitoyo d l xac dinh sai sd dinh vi theo ba phUOng De xdc dinh sai sd dinh hudng cua tiing khdp quay, Brethe tiln hanh sai sd dinh hudng cho tUng khdp bang mdt he thdng khdc Mdt phuong phdp khdc Koseki [2] d l xuat la Sli dung hinh anh Ca me ky thu^t sd de xac dinh sai sd dinh vi ciia vat mau vao vi tri cho trUdc Phuong phdp ddi hdi thilt bi cd dp phan giai cap va kha dat tiln Phuong phdp thii ba Shiakolas de xuat la diing thilt bi ba chieu thdng qua cac cam biln lUc de xdc dinh sai sd dinh vi cua khdi mau hinh tru cd khoan cdc Id ddi xiing vd tUOng Ung vdi he Id trln am ban Phuong phap cung cd t h i dat dp chinh xdc khd cao, nhUng thilt bi ciing khd dat tiln De thilt ke mdt he thdng dam bdo dUpc ylu cau ddi vdi cdc rd bdt hien cd d Vilt Nam, vile chpn phuong an thiet k l don gian va kinh t l la viec lam can thilt HI thdng dd chinh xac lap kieu truyen thong la xdc dinh cdc sai sd dinh vi cua khdi hop chuan vao am bdn t^i vi tri da lap trinh sdn cho rd bdt, tU day, ta xac dinh sai so vl dinh vi va dinh hUdng theo cdc phuong khdc Van d l bd tri cdm biln nhU t h i ndo, bao nhieu cdm biln cd the du cho viec xac dinh sai sd dinh vi va dinh hUdng, Id vdn de mau chot Trln hinh la minh hoa vl sai sd dinh vi vd dinh hudng ciia rd bdt khdng gian lam vile - Sai sd vi tri: e^, By vd e^ * Hinh 1: Sai sd vi tri vd sai sd hUdng qua trinh dinh vi ciia ro bdt cdng nghi|p BO TRf CAM BIEN VA NGUYEN LY CUA HE THONG DO Theo nguyin ly DOF cua vat the khdng gian, ta can dinh vi dupe sdu bac tU do, nhU vay, Sli dung cam biln la can thilt Vdi sdu cam biln vi tri, ta cd the xdc dinh dupe sai sd vi tri theo ba phuong X, Y, Z va sai sd dinh hUdng TU sai sd dinh hudng phai xae dinh dUpc sai sd gdc ldn nhat cua true khoi mau vdi mat phang XY Vdi sau cam biln ta cd the bd tri theo phuong an 3-2-1 Id phuong dn thich hpp nhat cho vile xac dinh cd sai sd dinh vi va sai sd dinh hUdng Theo phuong dn ndy, cac cam biln dupe gd trln ba mat phang ciia he toa dp c6 dinh XYZ, HI to^ dp ciia khoi mau, tuong Ung vdi toa dp dilm cudi cua rd bdt la XjYjZj (hinh 2) Gid stf toa dp ban dau ciia cdc cam bien lan lUpt la : Si(X„,Y„,Z,,),S,(X,,,Y,.,Z,,),S3(X„,Y„,Z,3), S,(X,.Y,,Z,,), S,(X„,Y„,Z,3), S.(X3.,Y,.,Z,,) Gia thilt ba cdrh biln S^, S^ va S3 dUpc bd tri mat phang XOZ va S^, S^ XOY vd S6 YOZ Cdc gid tri ban ddu eua cdc cam biln d i n khdi mau ldn luot la a, b, c, d, e va i Toa dp cua cac diem trln khdi mau se Id: KX,,, Y„+a, Z J , 2(X33, Y,,+b, Z,,), 3(X„, Y„+c, Z„) 4(X„, Y„, Z^^+d), 5(X33, Y33, Z,3+e), efX^^+f, Ys ZJ - Sai sd hudng: 6^, 9y va ^^ atl Ba d i l m 1,2,3 xdc d i n h vi tri eua mat TAP CHl C O K H i VIETNAM V S6 (Thing nam 2012) NGHIEN CtfU - TRAO D I mat phing X,0,Z, Ta CO the" thong qua phUdng trinh cua m^t mjt phJng niy dl xdc djnh phUOng y^„4_ j y j ^ ^ ^ t o ^ h l p h u o n g »2 = «i dohaimjt ^^^^^ ^^^ ^^^^^ ^^^ ^^ ^ j ^ ^ ^ trinh cua vie to phap tuyfe H, v6i mjt phSng d6: , ^ - Vic to phdp tuySn cud mat phang ndy cd Ml =M1J.M13 _ _ Trong d6 uu.uu Id cdc vie td chi d^ng: ni =u4j.u; y^j phuong di qua cdc di^m (1,3) vd (1,2) Ta co: = (.x» - X,, r„ -Y,,.z,,+d- z„ - i) Vic to phdp tuyfe trin dU