NGHIEN cuu-TRAO DOI NGHIEN CUfU, THIET KE VA CHE TAO ROBOT CAP PHOI C6 NHO RESEARCH, DESIGN AND MANUFACTURE MINI FEEDER ROBOT ThS Ngo Van Tuan, ThS Nguygn Minh Dat Hgc vien Ky thuat Quan su TOM TAT Bdi bdo trinh bdy kit qud nghien cmt, thiit ki vd chi tgo robot cdp phdi cd nhd de cdp phdi tu bdng tdi (hoac tit cdc ca cdu tuyen phdi) den mdy phay CNC de gia cdng vd van chuyin bdn thdnh phdm titvi tri gia cdng tren mdy din bdng tdi, hoac lam cdc cdng viec tuang tu ddy chuyin sdn xudt a phong thi nghiem, phuc vu ddo tgo, nghien cuu khoa hgc Kit qud van hdnh cho thdy robot da Idm viec dn dinh, dgt dugc chinh xdc cdn thiit Tu" khoa: Robot cdp phdi ca nhd; Mdy phay CNC; Bdng tdt ABSTRACT This paper presents the results of research, design and manufacture mini feeder robot to feed the embryo from the conveyor (or from recruited embryonic structure) to CNC milling for processing and transport semi-finished products from processed position on machines to conveyor, or doing the same job, in production lines in the laboratory, for training, scientific research Results showed that robot operators stably, achieve the necessary accuracy Keywords: Mini feeder Robot; CNC milling; DAT VAN DE Conveyor the gidi Tuy vay, viec ap dung cac nghien cuai Ung dung robot vao cac day chuyin san xu4t ^^ ™« ^^^'^^ ^^ ^^ thilt k l , chi tao robot phuc vu tu dgng dang mang lai nhung Igi ich to Idn d l ^^'^ ^ " '^^^ t^°°8 """^^ ^^^ ^ ' ^ ^ ^ ^ '=^^ ^^ "^^ tang nang su4t, ch4t lugng san ph4m va cai thien ^ ^ ^ - ^ ° ^^' ^^^^ ^S^*^^ • " ^ ' ^P *^^S cac bm dilu kien lam viec cho ngudi Viet Nam, *«^^ ^^ ^^^^^^ ^^ '"^''^ ^^ ^^ nganh khoa hgc nghien euu v l robot kha non ^^« '^^^' ^ ° " S nude la van de ckn thilt ^^^^ ^^'^^ ^^' '^' tre so vdi the gidi Chung ta co thi tilp thu nhiing Trong qua trmh thiet ke robot, cd ikt nhilu bai ket qua nghien cuu ciia cac nuac tien tiln tren toan can phai dugc giai quyet Tuy nhien, TAP CHi CO KHi VIET NAM, Sfi nam 2014 www.cokhivietnam.vn NGHIEN cuu-TRAODOI khuon kho bai bao, tac gia trinh bay phuang an thiet ke va tinh toan dgng lire hgc cho robot cdp phoi cd nhd Tac gia da chi tao va thu nghiem va dua danh gia chinh xac cua robot hoat dong khop thu nhat (khdp 4) co true song song vdi cac true khdp va 3, khdp thu hai (khdp 5) co true vuong goc vdi khdp nhu hinh CO s d THIET KE 2.1 Ch9n phuong an dong hoc cho Robot cap phoi Vdi yeu cau robot cap phoi cd nho lam viec phong thi nghiem, cung nhu phuc vu nghien cuu khoa hgc Ta chgn kit ckxi dgng hgc ciia robot va cac yeu can ve kha nang lam viec du kien cua robot nhu sau: +Kh6i lugng nang toi da: 0,5Kg; Hinh I: Sa dd ddng hgc robot cdp phdi +iCich thudc bao Idn nhat cua chi tilt: 60x60 (mm^); +Kich thudc bao be nhSt ciia chi tilt: 15x15 (mm^); +Tam vdi toi da theo phuang ngang: 350 mm; +Khoang nang toi da theo phuang thang dung: 200 mm; +Ngoai ra, robot phai thoa man mgt so yen cau khac, cu the la: Robot phai tuong doi "kheo leo", co the gap, di chuyen va cap phoi tix bang tai hoac ca cau tuyen phoi din vi tri gia cong tren may hay vi tri khac va ngugc lai ma khong gay va cham vdi cac CO ciu cua may, cac phan tu ga va cac thiet bi khac Vi vay, ta chgn ket cau robot kieu tay ngudi [2], robot phai xac lap dugc tga phoi theo yeu c§u gia cong hay lap rap, cu thi la co the dinh vi dugc phoi d vj tri bit ky vung cong tac, c6 thi dinh hudng phoi mgt mat phang bat ky d vung cong tac Mu6n vay, c6 tay phai co hai khdp, Ct dt Hinh 2: Sa dd tinh todn robot cdp phdi 2.2 Giai bai toan dong luc hoc robot cap phoi Do khdp CO tay cua Robot co chuc nang dinh hudng vat nang, kich thudc cac ca cau cua ban tay -i TAP CHi CO KHi VIET NAM, So nam 2014 fffl •••• www.cokhivietnam.vn NGHIEN cuu-TRAO DOI khong Idn, nen de bai toan dong luc hgc khong ciia phuong trinh Lagnange II: qua phuc tap va khong anh hudng nhieu den ket qua tinh toan, ta coi nhu khoi lugng vat nang va ^(q)q + C(q.q)g + = T[2] (1) ciia ban tay tap trung tai khdp co tay va coi nhu Trong do, M(q) la ma tran khoi lugng suy la mgt phan cua canh tay, khong co chuyen dgng rgng cua Robot C(q.q) la ma tran li tam va tuong doi vdi canh tay De don gian cho viec giai bai toan, vdi mgt Coriolis ciia Robot.n la ham the nang ciia robot sai so chap nhan dugc, ta bo qua cac luc ma sat va Sau giai bai toan d6ng luc hgc thu§n, ta luc can tac dung len Robot Khi giai bai toan dgng nhan dugc he phuang trinh vi phan chuyin dpng luc hgc Robot cap phoi, ta su dung dang ma tran ciia robot cap phoi nhu sau: [^i.+h^C'+l^Xi+hXr.+hyCL + \:2m,ll,S,C,q,-2mShS,,C,,+ll + '^ilciCi+m.WciCjCj, +llCl +/c3C;)]^, S,C,+l,l,,(2S,C,,-S,))q, - (2) 2m3(/^,35',3Q3 + / , / „ C , , , ) + ( , , - / , J , C , ^ , + ( , -/3^)5c3C,3(^, +^3)]^, = T , K + h + m/ci + >»,fe +4' + 2/,/c3C)]^2 + ^3 + rn.ll, + Wik^C^q, inA_S^C^+m,(l^S,C, -2^,^-l^X^i +l^,S,,C^, +!Jc,(2C,S,, + ^^.-hX^C^qf-m,lJ^Af;ym,gl^,C, -2m,lJ,S,q,q, -S,)) + m,g(l,C, + l^,C,,)=x, (3) ^3, + ^3/^3 + m,lj^,c)q, + (1,^ + m,ll}q, + \m,l,S._,(},C^ + l,C,,) ~ ^,^ + mJJc,S^q^+m^glc,C^, Trong cac phuang trinh tren, cac thong s6 dugc ky hieu nhu sau: + 1^.: Khoang each tu trgng tam khau I din khdp lien ket giiia khau i vdi khau i-1 + l: Khoang each tu khdp i- din khdp i (chieu dai khau i) + q^: Cac bien khdp + C: Cos q,, S.: Sm q^, C^: Cos(q+q^), S.: Sin(q+q^) Dua vao ket qua bai toan dgng hgc, dgng luc hgc thuan ta giai cac bai toan ngugc lam co sd dieu khien robot + ljs,,c]ql (4) THI NGHIEM DANH GIA Ta tien hanh thu nghiem chinh xac ciia robot cap phoi sau cho cac tac nhan tii ben ngoai, cu the moi thi nghiem ta them vao cac khau robot mgt trgng lugng nhit dinh va kilm tta dp chinh xac cua khau cong tac Cho Robot thuc hien cong viec gap mgt chi tiet hinh tru co khoi lugng 150g tir mgt vi tri tren "bang chuyen" gia dinh vao mgt vi tri da dugc xac lap tren ban may Cho robot lap di lap lai 10 lan cong viec tren Tai ban may, ta tao mgt he tga vuong goc xOy bang cac can mlu, K H TAP CHi CO KHi VIET NAM, Sfi nam 2014 www.cokhivietnam.vn NGHIEN cuu-TRAO DOI sau do, xem xet sai s6 vi tri cua chi tilt bang each khoang each tir mat tru cua no din hai tnic tga Ox va Oy Cac sai s6 vi tti tuyet d6i dugc xac dinh theo cong thiic: + x^; y^: Tga tam dudng tron co ban kinh be nhat chiia tat ca cac diem tam chi tilt 3.1 Thi nghiem Ta tien hanh thu nghiem robot chua gin vat nang tren cac khau Sai so lap lai dugc xac djnh bSng khoang each tir vi tri chi tiet cua cac thi nghiem din tam dudng tron co ban kinh be nhit chira tit ca cac diem tam chi tiet Trong thi nghiem cac gia tri thi hien nhu sau: il + x^; y^,: Tga diem cudi ciia tam chi tilt ma robot can mang den + x; y: Tga diem cuoi ciia tam chi tilt ma robot mang den Hinh Thu nghiem chinh xdc Robot cdp phdi Bdng " Ket que thi nghiem chinh xdc dinh vi Robot cdp phdi (dan vi inh mm) l i n thu i 10 \ 54.5 54.5 54.5 54.5 54.5 54.5 54.5 54.5 54.5 54.5 y 62.8 62.8 62.8 62.8 62.8 62.8 62.8 62.8 62.8 62.8 X 54.2 53.9 53.9 54.1 54.3 53.9 53.8 54.2 54.1 54,0 y 62.8 62.7 62.9 62.7 63.1 62.8 63.0 62.9 63.2 63.1 AX -0.3 -0.6 -0.6 -0.4 -0.2 -0.6 -0.7 -0.3 -0.4 -0.5 Ay -0.1 0.1 -0.1 0.3 0.2 0.1 0.4 0.3 X| 54.0 54.0 54.0 54.0 54.0 54.0 54.0 54.0 54.0 54.0 y, 62.92 62.92 62.92 62.92 62.92 62.92 62.92 62.92 62.92 62.92 AX, 0.2 -0.1 -0.1 0.1 0.3 -0.1 -0.2 0.2 0.1 Ay, -0.12 -0.22 -0.02 -0.22 0.18 -0.12 0.08 -0.02 0.28 0.18 0.3 0.61 0.61 0.41 0.36 0.60 0.73 0.32 0.57 0.58 0.23 0.24 0.10 0.24 0.35 0.16 0.22 0.20 0.30 0.18 Sal so vitri Sai so lap lai Sai so v i t r i T B 0.51 Sai so 1ip lai TB 0.22 TAP CHi CO KHi VIET NAM, Sfi nam 2014 f f H www.cokhivietnam.vn •••• NGHIEN cuu-TRAODOI 3.2 Thi nghiem G5n them mot qua nang co ldi6i lugng 500g vao canh tay giaa robot Thirc hien cac buac nhu thi nghiem ta co ket qua theo bang Hinh 4: Thu nghiem Robot mang vdt ndng a giiia cdnh tay Bdng 2; Kit qud thi nghiem chinh xdc dinh vi Robot mang vdt nang a giira cdnh tay (dem vi tinh: mm) Lan thii 10 Xc 54.5 54.5 54.5 54.5 54.5 54.5 54.5 54.5 54.5 54.5 yo 62.8 62.8 62.8 62.8 62.8 62.8 62.8 62.8 62.8 62.8 X 54.2 53.8 53.9 54.2 54.1 53.7 54.0 54.4 53.9 54.1 y 62.6 62.7 62.5 62.4 63.0 62.8 62.5 62.7 63.2 62.9 AX -0.3 -0.7 -0.6 -0.3 -0.4 -0.8 -0.5 -0.1 -0.6 -0.4 -0.1 0.4 0.1 Ay -0.2 -0.1 -0.3 -0.4 0.2 -0.3 X, 54.03 54.03 54.03 54.03 54.03 54.03 54.03 54.03 54.03 54.03 y 62.73 62.73 62.73 62.73 62.73 62.73 62.73 62.73 62.73 62.73 AX, 0.17 -0.23 -0.13 0.17 0.07 -0.33 -0.03 0.37 -0.13 0.07 Ay, -0.13 -0.03 -0.23 -0.33 0.27 0.07 -0.23 -0.03 0.47 0.17 0.36 0.71 0.6 0.50 0.48 0.80 0.58 0.14 0.72 0.41 0.21 0.23 0.26 0.37 0.28 0.33 0.23 0.37 0.49 0.18 Sai so vi tri Sai so lap lai Sai so v i t r i T B 0.53 Sai so ap laiTB 0.30 I TAP CHi CO KHi VIET NAM, So nam 2014 www.cokhivietnam.vn NGHIEN cuu-TRAODOI 3.3 Thi nghiem Gan them mgt qua nang co kh6i lugng 500g vao canh tay cu6i robot Thuc hien cac budc nhu thi nghiem ta cd kit qua theo bang Hinh 5: Thu nghiem Robot mang vdt ndng a cdng tay cuoi Bdng Kit qud thi nghiem chinh xdc dinh vikhi Robot mang vdt ndng a cudi cdng tayfdan vi tinh: mm) L^thii 10 x„ 54.5 54.5 54.5 54.5 54.5 54.5 54.5 54.5 54.5 54.5 y 62.8 62.8 62.8 62.8 62.8 62.8 62.8 62.8 62.8 62.8 X 54.1 53.9 53.8 54.2 54.1 53.7 53.9 54.4 54.1 53.8 y 62.7 62.5 62.3 62.5 63.0 62.6 62.4 62.7 63.1 63.0 AX -0.4 -0.6 -0.7 -0.3 -0.4 -0.8 -0.6 -0.1 -0.4 -0.7 Ay -0.1 -0.3 -0.5 -0.3 0.2 -0.2 -0.4 -0.1 0.3 0.2 ", 54.0 54.0 54.0 54.0 54.0 54.0 54.0 54.0 54.0 54.0 62.68 y 62.68 62.68 62.68 62.68 62.68 62.68 62.68 62.68 62.68 AX, 0.1 -0.1 -0.2 0.2 0.1 -0.3 -0.1 0.4 0.1 -0.2 Ay, 0.02 -0.18 -0.38 -0.18 0.32 -0.08 -0.28 0.02 0.42 0.32 0.41 0.67 0.86 0.42 0.45 0.82 0.72 0.14 0.50 0.73 0.10 0.21 0.43 0.23 0.34 0.31 0.30 0.40 0.43 0.38 Sai so vitri Sai so lap lai Sai s6 vj tri TB 0.57 Sai so ]ap lai TB 0.32 TAP CHI CO KHi VIET NAM, So nam 2014 R M www.cokhivietnam.vn •••• NGHIEN cuu-TRAODOI Danh gia kit qua thuc nghiem Tu cac bang kit qua thu ngiem tren day, co the dua mgt s6 nhan xet, danh gia sau day: Khi lam viec vimg cho phep vdi dieu kien bmh (khong co tac dgng cua cac ylu to ben ngoai), robot lam viec on dinh vdi sai so vi tri va sai so lap lai nho (0.53mm va 0.22 mm) Khi lam viec vdi tac dgng cua cac tai trgng ben ngoai, robot ciing dat dugc on dinh can thiet, sai s6 vi tri khong vugt qua 0,57mm, sai so lap lai khong vugt qua 0,32mm KET LUAN Robot dugc chi tao va co kha nang lam viec dap ling dugc yen cau cua viec cap phoi cho cac may gia cong cd nho Robot CO thi dugc dua vao day chuyen san xuat d phong thi nghiem, phuc vu dao tao, nghien cuu khoa hgc.*!* Ngay nhan bai: 24/02/2014 Ngay phan bien: 17/3/2014 Tai lieu tham khao: [1] Dao Van Hiep, Ky thudt Robot (in lin thiir ba.), NXB Khoa hgc va Ky thuat (2006) [2] Nguyen Van Khang, Dgng luc hgc he nhieu vat, NXB Khoa hoc va Ky thuat (2007) [3] J Denavit, R.S Hartenberg, A Kinematic Notation for low Pair mechanisms based on Matrices fffH •••• TAP C H i CO KHi V I £ T NAM, So nam www.cokhivietnam.vn 2014 ... tam chi tilt ma robot can mang den + x; y: Tga diem cuoi ciia tam chi tilt ma robot mang den Hinh Thu nghiem chinh xdc Robot cdp phdi Bdng " Ket que thi nghiem chinh xdc dinh vi Robot cdp phdi... c6 tay phai co hai khdp, Ct dt Hinh 2: Sa dd tinh todn robot cdp phdi 2.2 Giai bai toan dong luc hoc robot cap phoi Do khdp CO tay cua Robot co chuc nang dinh hudng vat nang, kich thudc cac ca... co chuyen dgng rgng cua Robot C(q.q) la ma tran li tam va tuong doi vdi canh tay De don gian cho viec giai bai toan, vdi mgt Coriolis ciia Robot. n la ham the nang ciia robot sai so chap nhan dugc,