Pham Thanh Long va Big Tap chf KHOA HOC CONG NGHfi 176(16) 11 17 T I N H T O A N D U N G S A I C H U O I D A N D O N G C H O T K H O A K E T S A T B A N G P m r O N G P H A P S 6 Pham Thanh Long, L.Pham Thanh Long va Big Tap chf KHOA HOC CONG NGHfi 176(16) 11 17 T I N H T O A N D U N G S A I C H U O I D A N D O N G C H O T K H O A K E T S A T B A N G P m r O N G P H A P S 6 Pham Thanh Long, L.
Pham Thanh Long va Big Tap chf KHOA HOC & CONG NGHfi 176(16): 11-17 TINH T O A N D U N G SAI CHUOI DAN D O N G C H O T K H O A KET S A T BANG P m r O N G PHAP S Pham Thanh Long', Le Thi Thu Thily Trudng Dgi hgc Ky tkudi Cong nghiep - DN Thai Nguyen TOM TAT Trong chl t£io may viec dam bao chinh xac cua cac co ciu co khf 1^ mot cac noi dung co ban Q budc thiet ke, ngudi ^ su can dinh luong dugc gia tri dung sai cua cac chi tiSt may dya tren so d l lien kit dong hoc ciia chiing Chuoi kich thudc \k m6t nhflng phuong phap plio bien dl lam viec nay, nhien cac chuli khong gian vdi s6 lugng khSu Idn khong de c6_dugc Idi giai hgp ly Bai bao gioi thieu mpt phuong phap sfi giiip x^c dinh dung sai cac ca ciu khong gian nhanh chong, chinh xac va ton trgng phan iing dong hpc tu nhiSn ciia co cau hon phuong phap chu6i kIch thudc truyin thing Chiing toi ciing minh hpa giai thuat tren mot co ciu co la he thong dan dong chot khoa ket sat Ket qua thuc nghiem tren mo hinh va mo phong cho thay tfnh dung dan cua giai thuat dieu kien lap lin hoan toan chi tiet may Phuang phap hoan toan CO the ung dung tren cac cum chi tiet may dang chu6i dgng kin ho^c hd Tu" khoa: dung sai; chudi ddng; ldp lan; chinh xdc; Jacobian MODAU Dp chinh xac cua c o cau chap hanh la he qua ciia mflt qua trinh lu thiet k l , che tao, lap rap, dieu chinh va dieu khiln Viec dieu khien phan hdi khong the thay the hoan toan cho chat lugng che t^o c a khf, vay viec xac djnh dugc dung sai ciia cac khau phan tham gia vao chudi ddng hpc la mgt ngi dung CO ban cua he dan dgng c a Cd hai p h u a n g phap c a ban de lam viec nay, mdt la phuong phap chudi kich thudc truyen thflng [1] Phuang phap dupe iing dung nhilu ky thuat bao gflm ca tinh toan dung sai chufli kich thudc va thiet k l dp chinh xac ciia cac phep nhieu thu nguyen [1] N o CO nhugc d i l m mang nhilu nhgn dinh chu quan mpt chudi ddng n khau can gan trudc ( n - l ) phan ciia chudi de giai khau khep kin, each lam dam bao dugc dung sai ciia chudi song khong tdn trpng phan ling dpng hpc tu nhien ciia c a cau Hai la dua vao ma tran Jacobian de tim anh xa cua cac di chuyen nhd ngo vao theo cac di chuyin nho ngo [2] Cach kha phiic tap va It dugc ung dyng phai xac dinh dugc dao ham cua cac ham lien kit dfing hpc phii'c tap, mat khac nd cung chua tim dupe dung sai ciia t i t ca cac yeu tfl thiet ke bao g6m cac kich thudc dai va kich thudc gdc Do bai toan ddng hpc ngugc cua robot cung la mdt kenh phan anh chinh xac quan he ve chat lugng che tao cac khau phan vdi dp chinh xac vi tri va hirdng khau cudi [3] Nen hoan toan cd the su dung cdng cu xac dinh dung sai cho cac chufli ddng hpc neu cd mpt cflng cy giai dugc bai toan vdi dp chinh xac cao [3] Mpt so nghien ciiu khac sii dung hdi quy thuc nghiem se khdng xac djnh dugc dung sai che tgo ma se cung cap thong tin ve miic dfl anh hudng ciia cac thdng sfl khac tdi chit lugng dieu khien khau cuoi nhu d6 chinh xac, diln hinh cho hu'dng nghien cuu la [4] QUAN HE DICH CHUYEN KHAU CUOI v e i l DUNG SAI KHAU THANH PHAN Xet mdt chu6i ddng hpc n phan gdm cac yeu to kich thudc dai va kich thudc gdc khdng ke den dung sai cd dang nhu ( I ) : f(d„ ,d„)^p,; i = \^m (I) Trong d, la kich thudc (dai hoac gdc) khao sat, m la sfl lugng diem khao sat; Mfl hinh ( I ) the hien quan he ly tudng cac Ve/, 0947 169291 Email kalongkc@gmail com tham so d, che tao chinh xac va p, la diem Pham Thanh Long vd Big Tiip chi KHOA HOC & CONG NGHf mong muon Khi ke dgn dung sai cua ! A4eqS»ad) JM OEOoooa -MTDSW ,„ oooeooo-;^ SlAiuriier STIBW 0005000-; JIKH J Stcpc SpHrunlw : Spttumlwf ; Splrunbn- : », s i « = 0IXI12S - ' ftisfn lM„fy s i » s 05375 Steps kJ6.W^~Sfl01!''A Theo ket qua kiem tra tren hinh 7, cd 500000 kha nang da dugc thir nghiem xung quanh diem tinh toan, tat ca deu da dat yen cau ve dung sai Ket qua thuc nghiem tren 03 san pham that bao gflm ket sat de tai ma sd T 2016-31 [5] trudng DHKT Cflng nghiep quan ly, ket sat luan van Thac sy cua hpc vien Nguyen Manh Tuan [6], va ket sat ma tic gia che tao cho cflng ty Nam Viet (hinh I) cung cho thay cac chi tiet dugc ISp ngau nhien khflng qua lya chon sau khang djnh chiing dap mig dung sai theo tinh toan, he thflng ludn vgn hanh on dinh khflng bi hoc, k?t Dieu chung td dp tin cay ciia phuang phap tinh toan dung sai mdi ma chiing tfli gidi thieu KET LUAN gdc va bien kich thudc dai nen da dupe chia lam hai bai toan nhd Viec hcrp nhat ket qua sau bang each kiem tra dap irng 13p lan hoan toan tren phuang trinh ddng hpc thuan cho thiy cac chi tiet may da xae djnh dupe gia tri dung sai cho phep cua tung kich thudc Vdi each tiep can tong quan nhu chiing toi trinh bay d tren, phuang phap thiet ke dung sai cd the ap dung dugc cho nhieu kieu dSn dflng khac tir robot cflng nghiep, cac cum may, cac ca cau khdng gian nhieu bac tir noi chung deu rat hieu qua LCII CAlVI ON Nhdm tac gia xin tran trpng cam an Dgi hpc Thai Nguyen da tai trg kinh phi cho bai bao thdng qua de tai ma sfl DH2017-TN0201 DH, Dgi hpc Thai Nguyen dat hang Vdi cac he thong kit cSu ca cd chuyin dflng khdng gian viec chuyen sang tinh dung sai theo hudng sfl hda la cin thiet Khi cac gia tri dung sai ciia tiing khSu khdng cSn chpn trudc theo quan diem chu quan nhu phuang phap truyen thdng, t5t ca cac gia tri hinh dong thdi va khong cd khau kh^p kin chufli nOa Do bai toan khdng khao sat dugc dong thdi hai nhdm biin 1^ biin kich thudc 16 TAI LIEU THAM KHAO Nguyen HOu Cong (2002), Gido trinh ky lhu$l lu&ng, Nxb Dgi hpc Quflc Gia H^ Nfli, Ha N$i._ Nguyin Thien Ph(ic(2006), Nghien cuu, thiit ki chi tgo cdc robot Ihdng minh phuc vif cho cdc ung dung quan trgng, D I tai cap Nha niroc, mas6KC.03.08 Pham Thanh Long (2012), A New Method to Sohe the Reverse Kinematic Robot Problem, ISTS,ThaiLandp 43-46, 10-2012 Pham Thanh Long vo Org Tap chi KHOA HOC & CONG NQHE Son Duy Dao, and Kazem Abhaiy (2012), Delermmalion of the Significance of Tolerance Parameters on Robot Performance Using Taguchi's Tolertmce Design Experiment Applied Mechamcs and Materials, Vols 229-231, pp 2100-2105 Pham Thanh Long Wghien ciu, phat triSn phien ban ket sat ccr dien tu theo hudng nang cao 176(16), 11 - 17 tdy chpn bao mat va bao ve ciia ca nhan ngiroi diing, dS tai cdp CO so ma so T2016-31 Nguyin Manh Tuan, Thia k6, chl tao ket sat ^ ^ ^ j |^^^ ^^ ^ Luan van Thac „,' '^ ^ * * BHKT CN Thj, NguySn, 2017 ABSTRACT C A L C U L A T I N G T O L E R A N C E O F THE A C T U A T O R I N G CHAIN OF T H E L A T C H L O C K OF THE SAFE BY N U M E R I C A L M E T H O D Pham Thanh Long', Le Thi Thu Thuy University ofTeclinology - TNU In the manulacture of machines, ensuring the precision of the mechanical structure is one of the basic contents At the design stage, the engineer needs to quantify the tolerance values ofthe machine parts based on their kinematic linkage scheme Size chains are one of the common methods to this, however spatial sequences with large numbers of strings are not easy to come up with This paper introduces a numerical method that helps to define the tolerances of spatial structures more accurately and respects the natural dynamic response of the structure than the traditional dimension chain method We also illustrate the algorithm on a mechanical mechanism is the key system locking the safe Experimental results on the model and the simulation showed the correctness of the algorithm in terms of fully assembled and assembled components This method can be applied on clusters of closed or open kinematic chain Keywords: Tolerance, Kinematic chain; interchangeabihty; Precision; Jacobian Ngdy nhdn bdi: 01/11/2017; Ngdy phdn biin: 30/11/2017; Ngdy duyitdang: 'Tel: 0947 169291 Email: kalongkc@gmail.com 05/01/2018