Design, construction and model control of five bar - Parallel robot

MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION THESIS ELECTRONICS AND TELECOMMUNICATION ENGINEERING TECHNOLOGY DESIGN, CONSTRUCTION AND MODEL CONTROL OF FIVE BAR – PARALLEL ROBOT ADVISOR : TUONG PHUOC THO STUDENTS: TRAN DINH TRONG PHAM HUU THACH SKL 5 Ho Chi Minh City, July 2023 MINISTRY OF EDUCATION AND TRAINING HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION _ FACULTY FOR HIGH QUALITY TRAINING GRADUATION THESIS DESIGN, CONSTRUCTION AND MODEL CONTROL OF FIVE BAR – PARALLEL ROBOT SUPERVISOR: TUONG PHUOC THO STUDENTS TRAN DINH TRONG - 19146001 PHAM HUU THACH - 19146118 CLASS: 19146CLA3, 19146CLA2 YEAR: 2019 – 2023 Ho Chi Minh City, July 2023 HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING SUBJECT: MECHATRONICS SOCIALIST REPUBLIC OF VIETNAM Independent - Freedom - Happiness MISSION OF GRADUATION THESIS SEMESTER / YEAR 2023 SUPERVISOR: TUONG PHUOC THO STUDENTS: Tran Dinh Trong ID: 19146001 Contact: 0854187662 Pham Huu Thach ID: 19146118 Contact: 0971841079 Project ID: 22223DT180 Project name: DESIGN, CONSTRUCTION AND MODEL CONTROL OF FIVE BAR – PARALLEL ROBOT Data and documents: − Five - Bar Parallel Robot − Expected figures: − Size: 350mm x 350mm x 300mm − Workspace: 300mm x 300mm x 100mm − Estimated accuracy: 70% Main content of the project: In this project we focus on doing the calculating and mechanical design, control, simulating the operation process of the five-bar parallel robot From there we design and control the robot as we have calculated And we can use many different type of the robot’s model in industrial as well as in life with it’s ability of moving or transporting goods to a direct spot fast and precisely i Expected products − reality robot − display control − project report − simulating video − poster Project start date: 15/03/2023 Project submission date: 28/07/2023 Language: Report: English  Vietnamese  Project presentation: English  Vietnamese  (Notes: High-quality English system provides explanations and reports in English) CHAIR OF THE PROGRAM (Sign with full name)  Allow to defense CHAIR OF THE MAJOR (Sign with full name) …………………………………………… (Supervisor,sign with full name) ii SUPERVISOR (Sign with full name) COMMITMENT - Project name: Design, construction and model control of Five Bar – Parallel Robot - Supervisor: Tuong Phuoc Tho - Student name: Tran Dinh Trong - ID: 19146001 - Address: KTX Khu B ĐHQG, Dong Hoa, Di An, Binh Duong - Phone contact: 0854187662 - Project submission date: 10/07/2023 - Commitment: “We thus attest that we conducted the research for and wrote the Class:19146CLA3 Email: 19146001@student.hcmute.edu.vn graduation thesis I never steal text from an article without crediting the author I accept full responsibility for any violations.” Ho Chi Minh City, … July 2023 STUDENTS (Sign with full name) iii COMMITMENT - Project name: Design, construction and model control of Five Bar – Parallel Robot - Supervisor: Tuong Phuoc Tho - Student name: Pham Huu Thach - ID: 19146118 - Address: Chung cu BCONS Mien Dong 55 Tan Lap Di An Binh Duong - Phone contact: 0971841079 - Project submission date: 10/07/2023 - Commitment: “We thus attest that we conducted the research for and wrote the Class: 19146CLA2 Email: 19146118@student.hcmute.edu.vn graduation thesis I never steal text from an article without crediting the author I accept full responsibility for any violations.” Ho Chi Minh City, … July 2023 STUDENTS (Sign with full name) iv ACKNOWLEDGMENT In the process of doing the project, we have received a lot of help, inspiration and instruction from lectures, family and friends We would like to express our most sincere thanks to Mr TUONG PHUOC THO - who enthusiastically guided and taught us in the process of doing this project Additionally, we would like to express our gratitude to the professors at the Ho Chi Minh City University of Technology and Education we were able to acquire all the necessary abilities thanks to Ho Chi Minh City in general and the instructors in Mechatronic Engineering Technology, in particular for their understanding of both general and specialized subjects during the learning process Strong theoretical underpinnings and advantageous settings made it possible for us to interact with sophisticated gear and equipment, which helped us develop our own talents more and more Finally, we would like to thank my family and friends for all of their aid and encouragement throughout the study process and project completion This endeavor cannot be perfect due to the practitioner's limited time and experience We are eager to get the advice and criticism from the teachers so that we can broaden and deepen my understanding and better serve the practical work in the future STUDENTS (Sign with full name) TRAN DINH TRONG-PHAM HUU THACH v PROJECT SUMMARY DESIGN, CONSTRUCTION AND MODEL CONTROL OF FIVE BAR – PARALLEL ROBOT The five bar parallel robot model is the main topic of this project It is designed, built, and controlled Building a robot model with the ability to execute intricate and dependable movements is the project's aim First, the robot model design procedure is completed Actuators, coupling assemblies, and robot configuration are just a few of the mechanical parts that are discussed in the project, along with their selection and fabrication The project also demonstrates the design of the controller as well as the investigation and programming of workspace optimization and smoother movement control modes The project then moved onto the process of building the model The specific steps of this procedure, from component machining to assembly and functionality testing, are outlined in depth In order to guarantee the stability and longevity of the model, the project also discusses the choice of appropriate materials and production techniques After much research and modification, the project's main goal is to manage the model using a variety of operating modes repeatedly This will improve the model's accuracy vi FOREWORD Today, science and technology are expanding fast and broadly in many disciplines, not to mention how well robots may boost production output in industrial settings The machine's ability to operate in production autonomously and with great accuracy without human oversight contributes to lower production and product costs and the creation of higher-quality goods My group conducted research on and carried out the project titled "DESIGN, CONSTRUCTION AND MODEL CONTROL OF FIVE BAR - PARALLEL ROBOT" based on the aforementioned problems Use a range of activities in both work and personal situations, loading and unloading cargo with the greatest amount of efficiency, and moving it quickly and precisely to its destination Because we haven't been introduced to or investigated this application direction as a fourth-year mechanical engineering student concentrating on mechatronic, we have had a lot of trouble exploring the aforementioned topic However, we have successfully implemented this topic thanks to the direction and devoted direction of Mr Tuong Phuoc Tho Last but not least, we would want to express my sincere gratitude to Mr Tuong Phuoc Tho and all the professors that assisted and fostered an environment that allowed us to finish the project vii TABLE OF CONTENTS MISSION OF GRADUATION THESIS I COMMITMENT .III COMMITMENT IV ACKNOWLEDGMENT V PROJECT SUMMARY VI FOREWORD VII LIST OF TABLES XI LIST OF DRAWING, DIAGRAM XII CHAPTER 1: INTRODUCTION 1.1 Abstract 1.2 Problems 1.3 Purpose of design 1.4 Limited of the project 1.5 Presentation content, overview of chapters CHAPTER 2: MECHANICAL DESIGN 2.1 Overview Of Parallel Manipulator Constructs: 2.1.1 Cartesian robot: 2.1.2 Robot SCARA: 2.1.3 Define the Five Bar – Parallel Robot 2.2 Analysis And Design Five-Bar Parallel Robot Configuration Selection 2.2.1 Analysis and Design of the Link Bar 2.2.2 Five-Bar Parallel Robot Design 10 2.3 Durability Calculation And Material Selection 13 2.4 Calculation And Motor Selection 15 2.5 Complete Design 18 2.5.1 Forward kinematics 19 2.5.2 Inverse kinematics 21 viii