NGHIEN C U T U - T R A O D O I V i MOT THUAT TOAN XAC DINH QUI LUAT MO MEN DAN DONG CAC KHOP C O A ROBOT HAN OTC AX-V6 JOINT TORQUE COMPUTATION ALGORITHM FOR WELDING ROBOT OTC AX-V6 KS Tran Le Linh, PGS, TS Chu Anh My, ThS Doan Hoc Dan Hpe vien Ky thuat Quan sU TOM TAT Trong thiet ke, che tqo Robot cong nghiep, viec xdc dinh qui ludt lUc (mo men) ddn dgng cdc khdp theo thdi gian Id vdn de quan Id cd sd degidi quyet mot loat cdc bdi todn khde mgt cdch hiiu qud: Khdo sdt ben cd cdu, tinh chgn phan td ddn dgng, truyen dgng, khdp noi, 6, true, then, tinh todn cdc ludt dieu khien, Gidi quyet vdn dendy, hdi bdo trinh hdy mot gidi thudt so cho mo hinh cd he Robot hdn cu the bdc tU Tir khda: Momen, Robot hdn, OTC AX-V6 Computting all joint torques of manipulator plays an important role in robot design process Based on the computation, a number of designing issues could be implemented effectively such as the structure analysis, the motor selection, the gear box selection, etc In partically, it is also used for developing the control laws for the robot In this paper, an algorithm for calculating all the joint torques of the robot ATC AX-V6 is built and implemented Keyword: Torques, Welding robot, 0TCAX-V6 I DAT VAN DE ddng liic chu ySu giiip Robot di chuyen theo yeu cau nhiem vu Trong linh viic Robot, Robot cdng nghiep (tay may) dupe hieu la cac loai Robot phuc vu cdng nghiep, cd cau true eo hoc d dang chuoi hd, eac khau ndi tiep nhd eae khdp mdt bac tii (cac khdp tinh tien hoac quay) Cae khdp Robot thudng dUdc dan ddng nhd eae dpng CO dien, thdng qua eae bd truyen giam tdc ca Md men eac cd cau dan dpng sinh la nguon ^ B TAP CHf C O KHI V I | T NAM *•* De giai quyet tdt cac bai toan thiet ke Robot, can phai ed xae dinh rd cac qui luat md men ddn ddng theo yeu cau lam viec cua he thong (qui dao, van tdc, gia tde edng tac) tren cd sd ket cau, tii trpng cua Robot, trpng Iddng, kich thildc cua eae khau Khi eae md men dan dpng dUdc xac dinh, ta mdi cd the xac dinh dUgfc cdng suat eiia cac cd Sd (Thane nam 2013) NGHIEN C U I U - T R A O D O I cau dSn dpng mdt each phii hdp; Ciing tii dd viec tinh toan thilt ke cae bd truyen cd (banh rang, dai, xich, true vit - banh vit, ), eae ehi tiet ca (true, 6, then, khdp noi, ) Ket cau cac khau (vat li^u, kich thudc) mdi cd the thiie hien dupe mdt each khoa hoc nhat; Tii gia tri md men tinh toan dupc, van d^ chuyen vi va sai sd he thong ciing se dupc kiem soat chat che nham nang eao chat kong cua san pham Ben canh dd, khao sat qui luat md men dan dpng cdn la ed sd de giai quyet cac van de ve dieu khien Trong thiie te, cae qui Iuat md men khdp ddng dUde sU dung lam eo sd de tinh toan luat dieu khien cua nhieu loai bd dieu khien Robot edng nghiep hien ky thuat tinh toan md men cac khdp ddng theo tUng budc thdi gian, tren ed sd he phUdng trmh vi phan chuyen ddng viet eho he tay may n bae tu Dac diem quan trpng cua k>- thuat la sii dung tnic tiep he phuong trinh vi phan bac thuan nhat, thay vi he phUdng trinh vi phan dai sd nhu [5] DONG use HOC De xac dinh dUde qui luat md men dan ddng dpng eac khdp, trUde het phai xay diing dupe he phfldng trinh ddng lUc hpe he, sau dd xay dUng thuat toan tinh toan md men tren ca sd qui dao cdng tac eho trUdc Tii trUdc den nay, tinh chat phUe tap ciia cd cau Robot khdng gian, de xae dinh gan diing gia tri cua cac md men cae khdp, ngUdi ta thiidng diia tren each tiep can phan tieh tinh hpe (Statics) hoac tua tinh (Quasi-Staties) [3,6] Tiep can tinh hoc coi he la diing yen (van tdc, gia tdc bang 0), nen dan den sai so ldn va khdng khao sdt dupc toan mien thdi gian he chuyen ddng Cach ti^p can tiia tinh khdng ke den lUc quan tinh, nen thiic te sai sd ciing rat ldn Ca each tiep can tren chi la giai phap ap dung cho cac h? thong lam viee vdi yeu eau ky thuat khdng eao, dp ehinh xae khdng ldn, ket eau khdng can tdi Uu, gia r^ Vdi Robdt han chang han, thi yeu cau ve chinh xae moi han rat cao, van tde, gia tdc han phdi dupc ke den qua trinh Robot lam viec, chiing anh hUdng trUc tiep den che dp han, chat lupng mdi ban Do vay, viec tinh toan md men dan dpng cac khdp khdng nhflng can phai d^t dp ehinh xac cao, ma edn phai dupe cap nhat theo thdi gian (phuc vu tinh tdan dn dinh, luat dieu khi^n) Md hinh cau true cd he robot nhfl sau: Hinh I: Mo hinh dong lUc hgc cua he Tren md hinh ca he ehung ta dmh nghia: cae ky thuat xay diing he phUdng trinh d^ng lUc hpe ngUdc va giai chung eung da dUpc d^c^p den [1,2,5] Tuy nhien, giai bang giai tich h o ^ toan he phUdng trinh vi phan thuan nhjlt la phUdng phap khdng kha thi ddi vdi cac he phiic tap Phuong phap stf dung cae phUdng trinh li^n k^t theo each tiep can Newton-Euler [5] thi lai v6 cung khd khan mudn sit dung cho tinh toan lu|t dieu khien Do vay, bai bao trinh bay u =r/^ /^ /I la vector tpa dp trpng tam O m,: khdi Ifldng khau thU i Sf = [PA ^F] ^' *" ^""^ ^^^ '•"'-'"^ ^^'^' ''^""^ dd Pfr la diem dinh vi kh.iu con^ tac A L* liu.'u;: ciia khau cdng t.u TAP CHi CO KHf V I £ T NAM V NGHIEN CUfU-TRAO D | Chieu quay cua cae khau dupe ky hieu Vdi cac phan da xac dinh d tren, he phUdng trinh dpng liic eua Robot han cd the diide nhu tren hinh ve viet thed dang thdc: Cae tham so done lUc hoc cua ed he dUde ^ , , „ , -, y - T-/- \ ,-^\ cho bang sau day: ' ' ' M(q)q + C(q,q)q + g ( q ) + F ( q ) = x (6) Trong dd: M ( q ) la ma tran khoi lUdng Toa tam tuyet doi ^ ( q q ) la ma tran ly tam va CorioUs, dinh: r^, = , + A,u'; i = ( l , ) (1) g(q)lamatranli(csuyrpngc6th4, F(q) matron Trong do: A_ la ma tran quay cac luc suy rgng khong the, T la ma tran cpt mo men dan dong cac khdp ma tran bien doi thuan nhat D^ cac phan cua (6) dUPc xac dinh Van tpc dai cua cac khau dupc xac dinh: ^^> nhu sau: Trong do: q = [?, q, q^ q, q^ q^'^ la vec to tpa dp / u y q = [9l ?2 93 ?4 ?5 96] J r , ™ tran Jacobian tinh tien Ma tran kh6i lUpng suy rpng: M ( q ) = Y.{mf„},, + J^,I,J^,) (7) 1=1 Cac quan he van tdc dupc the hien nhd eae ma tran Jacobian Trong do: m^ la khdi lUdng khau thii i, I^ Ma tran jacobian tinh tien J^^ ciia cac Tenxo quan tinh khau thU i so vdi (9^, cac Jacobi khau dflpc xac dinh: quay va tinh tien da xac dinh d tren ^•^c,(q) g-j^o(q) ^o(q) ^o(q) feo(q) &c,(q) Ma tran ly tam va Coriolis: Jj., (3) C(,,,).^(,«,)4(M5)(,«gJ ,3) Cac ma tran dfldc xac dinh mdt each de dang nhd phan mem Maple Van toe goc tuyet doi va ma tran Jacobian quay eiing dfldc xae dinh ^ , T i ^ " " ^ do: I la ma tran don vi cap n Ma tran the nang: -O^^ (D^_^ 0}^ -6)^^ -(y„ £j^ >