ứng dụng simmechanics trong bài toán động học rô bốt scara 3 bậc tự do

Cong trinh khoa hpc iTNG DUNG SIMMECHANICS T R O N G BAI T O A N D Q N G H O C R O B O T SCARA BAC TU DO TS PHAM HOANG VUONG B{i mdn Kp tliu^t mdy KtwaCakhl Tru&ng Dffi ligc Giao thdng V^n tdi Tdm tdl: Ngdy ro bdl dugc ung dung rgng rdi Irong edng nghiep vi thi cde nghien cihl tinh todn dgng hoc cho rd bdt edng tra nen cdn ihiel Bdi bdo ndy Irinh bdy phirang phdp xdy dimg md hinh dgng hge rd bdl bdc tu Iren SimMechanics Tir khda: Scara; Simmechanics; dgng hge; rd bdl Summary: Nowadays, robots are widely applied in industry, thus, researches of computed robot kinetics are become necessarily This paper is proposed a method to build kinematic model of degrees of freedom (DOF) robots by using SimMechanics Keywords: Scara; Simmechanics; kinematics; robots I DAT VAN DE Ngay nay, rd bdt Scara dugc sir dyng rpng rai nhieu ITnh vuc va cd nhieu chimg lopi khac Lopi phd bien lfi Scara gdm hai hope ba khfiu lien ket vdl bdi cfic khdp quay va tjnh tien Day la lopi rd bdt dugc sir dyng Ian dau tien vfio nam 1981 d cac hang Pentel va NEC [1] Cac umg dung bien cua Ioai rd bdt la thyc hien nhung nguyen cdng lap rap (lap rap cac Iinh kien dien tu vao mpch In, ddng nap hop ) vdi nhQ-ng uu diem vugt trpi ve tde vfi gia Ben cpnh do, SimMechanics la mdt Toolbox ciia Matlab vdi nhieu cdng cy hd trg giup md hinh hda tdt cac he thing co -^ '-"— Hinh Rd bdl SCARA Cobra s600 (dnh nguon Internet, lugc [2]) Tap chi KHOA HOC GIAO THONG VAN TAI S6 38 - 06/2012 35 Cong trinh khoa hpc II NOl DUNG l.BfiitoAn thuan Rd bot Scara tr£n hlnh I cd b$c ly do, cd lugc Ah hlnh chllu dirng IrSn m$t ph^ng XOY nhu luge hinh Ta th^y khfiu vfi khfiu quay mjit phfing XOY (hinh 2) Chilu dfii hai khfiu quay ikn lugl lfi vfi aj, quy lu§t chuyin dOng c^uay ciia khau d6i vdi gifi Ifi 6, = 0, (1), quy lu^l ciia khau so vdl khfiu I Ifi O, = Qj (1) vfi quy lu$l chuyin dgng cua khau tjnh tien so vdi khfiu Ifi d^ = di(l) Xfic djnh chuyin vj vfi v§n tic tpi diem cu6i cua khfiu (khau tjnh liln) Hinh Ro bdl SCARA bdc lu dugc md hinh hoa tren SimMechanics D I cd thi gial bai tofin dpng hpc Ihupn tren SimMechanics, trudc tien ta md hinh hoa ro bot Scara ba bac ty nhu tren hinh Quy Iu§t chuyen dgng ciia cfic biln khdp durgc dua vao bang 36 Tap chi KHOA HQC GIAO T H N G VAN TAI S6 38 - 06/2012 Cdng trinh khoa hpc each sir dyng khdi tfn hieu "Signal builder" Tic dO dugc thill kl nhanh d4n deu tir liic bfit dfiu va chpm dan diu vl kit thiic chuyin d^ng - Thdi diem bSl dfiu va ket thiic v§n ldc ciia cfic biln khdp bfing - Thdi dilm tb < t < (tf - tt) v§n toe tpi cfic biln khdp Ifi cyc dpi va bSng hSng so Trong dd t|, la thdi gian dl van i6c dpi cyc dpi, tfifi thdi gian kit thiic chuyin dpng ciia cfic khdp, De md phdng qufi trinh chuyen dpng ciia rd bot Scara ta sir dyng bp thdng so kich thudc eua cac khau nhusau: = 40cm; 82= 35cm; d4= 15cm; L = 50cm (chilu cao cua robot) Hinh md tfi kit qufi md phdng ehuyen dpng ciia rd bot Scara bpc ty Hinh 4.a la quan he cCia cac gifi trj vpn tdc (dudng cham mau dd), gia toe (dudng liln mau den) vfi gia trj gdc Oj (dudng cham gpch mau xanh) vdi thdi gian tir den 10 giay Hlnh 4.b la quan h? ciia cac gifi trj Clia biln khdp vdi thdi gian vfi hinh 4.e la quan h? ciia cfic gifi trj ciia biln khdp vdi thdi gian (mau vfi kieu dudng d bien khdp nfiy dugc djnh nghTa tuong ty vdi mau vfi kieu dudng d bien khdp 1) Hinh4.d md tfi quy dpo ciia rd bdt Scara bac tu khdng gian chieu OXYZ phi |r*d} lian loc (i^'Lj 'ãã^ ãã'iTôằ^t '.>ãã'"' i ; f\ A'"' _P'' : : ''X phi t'fld) 9J IOC ((Ki's-l Hinh Kit qud md phdng rd bdl Scara Bai toan nguoc N6I dung bfii toan phan tfeh dpng hpc ngugc ciia rd bit la tir quy dpo cho trudc ciia diem tac dung cudi cimg ciia rd bdt ta xfic dinh cfic quy luat chuyen ddng ciia cfic biln khdp (gom 0,, 0j, d , ) de dam bfio quy dpo dd Tap chi KHOA HQC GIAO THONG VAN TAI So - 06/2012 37 Cong trinh khoa hpc Hinh Vf Iri hinh hge cua khdu I vd khdu NIU ggi tpa dO dilm dau I vfi dilm cuoi F ikn lugt Ifi I(X|,y[), F(XF yp), thi rd r^ng khau vfi khfiu ehuyin dgng m$t phfing OXY, khfiu chuyin dpng tjnh tiln theo phuong tryc Z Hinh bilu dien vj trf hlnh hpc cua khau vfi khSu v& cfic gia trj biln khdp ciin phfil xac dinh la 6g, 62 vfi d3.De dfing nhpn thay tpi mdi vj trf cuoi ciia khau (vj tri ciia diem P) bfii loan ludn tim dugc hai phuang fin chuyin dgng (nhu Iren hinh 5) Ta co Ihl sir dyng cac dieu kien khac de bipn luan cho bai toan ngugc nhu: diln kipn vl gidi hpn tdc dp cfic khfiu, gidi hpn gdc chuyen dgng tdi da ciia cfic khau hay cac khau phai tranh vpt can qua trinh chuyen dgng Trong bai bao gia trj cua cac biln khdp dugc tinh cho mgt phuang fin va irng dyng SimMechanics mo phdng qua trinh chuyin dgng cung nhu linh tofin gla trj cua cfic bien khdp Cfic budc linh loan dugc thuc hipn nhu sau: - Tpi Ihdi diem bat ky (vj tri cuot ciia khau chap hfinh tpi diem P) ta tinh dugc cac gifi tri biln khdp 0|, 62 theo lugc dd hinh nhu sau: P=>/j^+yJ vaap=arctg(yp/Xp) - Ap dyng ham so cosin cho tam giac OPQ ta tfnh dugc: a fp'+a^-aH fp-+a;-afl pp =arccos ^-—-i—i- vay„ =arccos i- ^—-^ V 2.p.a, ) [ 2.p.aj J Tir dd ta tfnh dugc cac biln khdp 0|, 02 nhu sau: 38 Tap chi KHOA0f=ap-Ppva0^=Pp-^7p HQC GIAO T H N G VAN TAI S6 38 - 06/2012 Cong trinh khoa hpc ^p / a2 X[ Hinit Luge phuang dn tinh gid tri bien khap 3-E>*9-^[l>-; *0- & ^ EhpB—_ Hinh Md hinh tinh lodn gid Iri bien khap 6, $2 • khop (oO) S^x """"••••l s :-^ -^ ô ID ã \ - ;;;r:: klup ( I K U I ) khep J (nVi) •"t'- S 10 IS Hinli Ket qud md phdng (Xem tiep trang 45) Tap chi KHOA HQC GIAO THONG VAN TAI So 38 - 06/2012 39 Cong trinh khoa hpc MPa giap cho vipe danh gia cudng dp chju nen cua bS tdng tren cau kl§n thupn lgi, nhanh chdng khdng can phai xay dyng dudng chuan ri6ng cho tijrng lopl be tdng Nhdm tfie gifi budc dau cung da tpp hgp ket qufi thi nghipm va xay dyng bilu tra cho cfic lopi be tdng cd mfie tir 45MPa-^55MPa, vdi budc tra tuang ung chenh Ipch 5MPa Vdi mong muln khSng djnh ket qua vfi md rgng ung dyng tijr cfic kit qua ban dku, nhdm nghien cu:u sS tilp tyc tpp hgp cfic kit qua thu nghiem nhilu hon niia dl xay dung bilu tra cd budc tra nhd hon giup cho vipc dfinh gifi chinh xac hon niia Tfii li^u tham khao [1] TCVN 6025-1995 Ba tdng - Phfin mfie theo cudng dO chju n^n [2] TCXDVN 239-2006 Be t6ng njng - Chi dSn dfinh gifi cudng dp bfi tdng trgn kit cau cdng trinh [3] TCXD 225-1998 Be tong n^ng - Dfinh gifi chSt lugng be tong - Chi dSn phucmg phfip xfic djnh van tdc xung sieu 3m [4] TCXD 171-1989 B6 tdng n$ng - Phuong phfip khdng phfi hoai su" dyng kit hgp mfiy sifiu Sm vfi Sling bSt dl xfic djnh cudng dd nin [5] TCVN 3118-1993 Be tdng nSng - Phuang phfip xfic djnh cudng d0 chju n^n [6] TCXDVN 162-2004 Be tdng nSng - Phuong phfip xfic dinh cudng dp chju n^n bing siing bSt nay* ITNG D U N G SIMMECHANICS (Tiip theo trang 39) Gifi trj biln khdp dj dugc tinh toan theo van tdc dpi tpi dilm P vdi thdi gian chuyin ddng Dudi day la ket qufi md phdng qua trinh chuyen dgng cua rd bdt Scara bpc ty cd quy dao theo hinh chilu tren mat phfing OXY la mpt cung trdn cd bfin kinh R = 20 cm Hinh 8.a md tfi bien thien ciia eac biln khdp 9|, 82 va biln khdp di theo thdi gian tir din 10 giay Hinh 8.b md la van tdc tuong ung ciia cac biln khdp Hinh 8.c vfi d Ifin lugt la quy dpo ciia dilm P mat phang OXY va khdng gian chieu III KET LUAN De linh loan d^ng hpc cho rd bdt Scara, SimMechanics ndi rieng cung nhu MallabSimulink ndi chung da cung cap rfit nhilu khdi churc nang phuc vy gifii bai toan Ben cpnh ngudi dimg cdn cd the tpo them cfic khdi rieng (giong nhu nhihig hfim eon cac phfin mim lap trinh khfic nhu Pascal, C-H-, ) Viec xir ly du lieu vfi hpa cung nhu md phdng cae chuyin dpng chilu la rit dl dang Tiii liSu tham khao [I] Http://www.absoluteastronomy.com/topics/Industrial_robot [2] John J Craig, Introduction to Robotics: Mechanics and Control; Publisher: Prentice Hall; edition (January 1, 1989) [3] Http://www.mathworks.com» Tap chi KHOA HQC GIAO THONG V^N TAI So - 06/2012 ... (khau tjnh liln) Hinh Ro bdl SCARA bdc lu dugc md hinh hoa tren SimMechanics D I cd thi gial bai tofin dpng hpc Ihupn tren SimMechanics, trudc tien ta md hinh hoa ro bot Scara ba bac ty nhu tren... cfic biln khdp durgc dua vao bang 36 Tap chi KHOA HQC GIAO T H N G VAN TAI S6 38 - 06/2012 Cdng trinh khoa hpc each sir dyng khdi tfn hieu "Signal builder" Tic dO dugc thill kl nhanh d4n deu tir... khdp 0|, 02 nhu sau: 38 Tap chi KHOA0f=ap-Ppva0^=Pp-^7p HQC GIAO T H N G VAN TAI S6 38 - 06/2012 Cong trinh khoa hpc ^p / a2 X[ Hinit Luge phuang dn tinh gid tri bien khap 3- E>*9-^[l>-; *0- &