Luận văn thạc sĩ Kỹ thuật cơ khí: Nghiên cứu động lực học và phát triển cơ cấu kẹp mềm

Trang 1

ĐẠI HỌC QUỐC GIA TP HCM TRƯỜNG ĐẠI HỌC BÁCH KHOA

Trang 2

&{QJWUuQKÿѭӧc hoàn thành tҥi: 7UѭӡQJĈҥi Hӑc Bách Khoa-Ĉ+4*-HCM Cán bӝ Kѭӟng dүn khoa hӑc: PGS TS Phҥm Huy Hoàng

Thành phҫn Hӝi ÿӗQJÿiQKJLiOXұQYăQWKҥFVƭJӗm:

1 PGS TS Bùi Trӑng HiӃu ± Chӫ tӏch

2 TS Phҥm Quang Trung ± 7KѭNê 3 TS Phҥm Minh Tuҩn ± Phҧn biӋn 1 4 TS NguyӉn Hӳu Thӑ ± Phҧn biӋn 2 5 TS Lê Ngӑc Bích ± Ӫy viên

Xác nhұn cӫa Chӫ Tӏch HӝLÿӗQJÿiQKJLi/9YjWUѭӣng khoa quҧn lý chuyên ngành sau khi luұQYăQÿmÿѭӧc chӍnh sӱa (nӃu có)

Trang 3

ĈҤ,+Ӑ&48Ӕ&*,$73+&0

75ѬӠ1*ĈҤ,+Ӑ&%È&+.+2$

&Ӝ1*+Ñ$;+Ӝ,&+Ӫ1*+Ƭ$9,ӊ71$0 ĈӝFOұS- 7ӵGR- +ҥQKSK~F

1+,ӊ09Ө/8Ұ19Ă17+Ҥ&6Ƭ

+ӑWrQKӑFYLrQ9}ĈuQK7KiLMSHV: 2070618 1Jj\WKiQJQăPVLQK11/07/1998 1ѫLVLQKTP.HCM Chuyên ngành: ӻ7KXұW&ѫ.Kt0mVӕ : 8520103

I 7Ç1Ĉӄ7¬,

1JKLrQ&ӭXĈӝQJ/ӵF+ӑF9j3KiW7ULӇQ&ѫ&ҩX.ҽS0ӅP

(Dynamics Study And Development Design Soft Gripper Use In Food Industry)

II 1+,ӊ09Ө9¬1Ӝ,'81* - 7әQJTXDQYӅFѫFҩXNҽSPӅP

- 7KLӃWNӃ P{SKӓQJ SKkQWtFKÿӝQJOӵFKӑFFѫFҩXNҽSPӅP - &KӃWҥRFѫFҩXNҽSPӅP

- ;k\GӵQJKӋWKӕQJWKtQJKLӋPYjWKXWKұSVӕOLӋX III 1*¬<*,$21+,ӊ09Ө : 6/9/2021

IV 1*¬<+2¬17+¬1+1+,ӊ09Ө: 12/12/2021 V &È1%Ӝ+ѬӞ1*'Ү1:

- +ѭӟQJGүQFKtQK : 76/r+RjL3KѭѫQJ - ĈӗQJKѭӟQJGүQ: 3*6763KҥP+X\+RjQJ

Trang 5

/8Ұ19Ă17+Ҥ&6Ƭ

TÓM TҲT

7URQJQJjQKF{QJQJKLӋSWKӵFSKҭPÿһFELӋWOjFiFGRDQKQJKLӋSYӯDYjQKӓFiFGk\FKX\ӅQWӵÿӝQJKyDFKLSKtFDRYjFiFKӋWKӕQJURERWSKӭFWҥSUҩWNKyÿѭӧFӭQJGөQJQKѭFiFKӋWKӕQJÿѫQJLҧQYjFKLSKtWKҩS1JRjLUDYuOêGRYӋVLQKDQWRjQWKӵFSKҭPFiFKӋWKӕQJWUX\ӅQÿӝQJEҵQJNKtQpQSKKӧSKѫQ'RÿyW{LWKLӃWNӃEӝFѫFҩXNҽSPӅPEDRJӗPEӕQFѫFҩXPӅP&ѫFҩXNҽSPӅPFyWtFKKӧSGҥQJFҩXWU~FÿyOjGҥQJYX{QJJyFÿӇJҳSFiFWKӵFSKҭPFyELrQGҥQJWUzQYjGҥQJVRQJVRQJÿӇJҳSFiFWKӵFSKҭPFyELrQGҥQJKuQKFKӳQKұWĈӗQJWKӡLFyWKӇWKD\ÿәLPӭFNKRҧQJFiFFӫDFѫFҩXPӅPÿyOj mm; 80 PPGҥQJYX{QJJyFYj mm, 69 PPGҥQJVRQJVRQJ&iFFѫFҩXPӅPÿѭӧFFKӃWҥREҵQJSKѭѫQJSKiSÿ~FNKX{QYӟLYұWOLӋXOj6LOLFRQHEҥFKNLPÿDQJÿѭӧFWKѭѫQJPҥLWҥL9LӋW1DP.KX{Qÿ~FÿѭӧFFKӃWҥREҵQJF{QJQJKӋ,Q')'00ӛLFѫFҩXPӅPÿѭӧFWKLӃWNӃFҩXWU~FGҥQJ3QHX1HW3QHXPDWLF1HWZRUN OjPӝWPҥQJOѭӟLJӗPEXӗQJNKtQӕLWLӃSQKDXYӟLNtFKWKѭӟFWәQJWKӇ là 85×20×18mm GjLîUӝQJîFDR 0{SKӓQJSKҫQWӱKӳXKҥQÿӇNLӇPWUDÿiSӭQJWKLӃWNӃFӫDFѫFҩXPӅP;k\GӵQJP{KuQKWRiQÿӝQJOӵFKӑFFӫDFѫFҩXPӅP&iFEjLNLӇPWUDWKӵFQJKLӋPÿiQKJLiFKX\ӇQÿӝQJXӕQFRQJOӵFWiFÿӝQJFӫDPӛLFѫFҩXPӅPYjNKҧQăQJJҳSFiFWKӵFSKҭPNKiFQKDX

Trang 6

/8Ұ19Ă17+Ҥ&6Ƭ

ABSTRACT

In the food industry, particularly small and medium-sized enterprises, high-cost automation lines and complex robotic systems are difficult to apply as simple and low-cost systems In addition, for food safety reasons, pneumatic drive systems are more suitable Therefore, I designed a set of soft grippers consisting of four soft fingers The soft gripper integrates two types of structure, which are perpendicular to pick up round-shaped foods and parallel shapes to pick up rectangular-shaped foods At the same time, it is possible to change two levels of the soft mechanism which are 60 mm; 80 mm perpendicular, and 34 mm, 69 mm parallel Soft fingers made by die casting method with the material is Platinum Silicone being commercialized in Vietnam The mold is made using 3D Printing technology Each soft finger is designed in the form of PneuNet (Pneumatic Network) which is a network of 12 chambers in series with an overall soft finger size of 85 × 20 × 18 mm (L × W × H) Finite element simulation to check the design response of soft structures Building a dynamic mathematical model of the soft finger Experimental tests assess the bending motion, the force of each soft finger, and the ability to grasp different foods

Trang 7

/8Ұ19Ă17+Ҥ&6Ƭ

LӠI CAM Ĉ2$1

7{LWrQ9}ĈuQK7KiL9}

+ӑFYLrQOӟS&DRKӑF.ӻ7KXұW&ѫ.Kt± K2020 ± ĈӧW 0mVӕKӑFYLrQ

7KHRTX\ӃWÿӏQKJLDRÿӅWjLOXұQYăQFDRKӑFFӫDSKzQJĈjRWҥRVDXÿҥLKӑFĈҥLKӑF%iFK.KRD7S+&0W{LÿmWKӵFKLӋQOXұQYăQFDRKӑFYӟLÿӅWjL³1JKLrQFӭXÿӝQJOӵFKӑFYjSKiWWULӇQFѫFҩXNҽSPӅP´GѭӟLVӵKѭӟQJGүQFӫD3*6763KҥP+X\+RjQJYj76/r+RjL3KѭѫQJWӯQJj\ÿӃQ

7{L[LQFDPNӃWÿk\OjOXұQYăQWӕWQJKLӋSFDRKӑFGRW{LWKӵFKLӋQ7{LÿmWKӵFKLӋQÿ~QJWKHRTX\ÿӏQKFӫDSKzQJÿjRWҥRVDXÿҥLKӑFĈҥL+ӑF%iFK.KRD73+&0YjWKHRVӵKѭӟQJGүQFӫD3*6763KҥP+X\+RjQJYj76/r+RjL3KѭѫQJ

7{L[LQKRjQWRjQFKӏXWUiFKQKLӋPYӟLQKӳQJOӡLFDPNӃWWUrQÿk\1ӃXFyVDLSKҥPWURQJTXiWUuQKWKӵFKLӋQOXұQYăQW{L[LQKRjQWRjQFKӏXFiFKuQKWKӭF[ӱOêFӫDSKzQJÿjRWҥRVDXÿҥLKӑFYj%DQ*LiP+LӋX7UѭӡQJĈҥL+ӑF%iFK.KRD73+ӗ&Kt0LQK

+ӑFYLrQ

9}ĈuQK7KiL

Trang 9

/8Ұ19Ă17+Ҥ&6Ƭ

7.1 ĈRFiFJLiWUӏOӵFJyFELӃQGҥQJYjWKӡLJLDQÿiSӭQJFӫDPӝWFѫFҩXPӅP46

Trang 10

+uQK$ &ѫFҩX0F.LEEHQEDRJӗPPӝWӕQJErQWURQJYjÿѭӧFEDROѭӟLErQQJRjLFyJyFÿDQș>@% FѫFҩXW~L>@& FѫFҩXXӕQNӃWKӧSJLӳDPӝWEXӗQJNKtEDRVӧLErQQJRjL>@' FѫFҩXOLQKKRҥW>@( FѫFҩXGҥQJ3QHX1HW>@) &ѫFҩXFѫQKkQWҥR± iSVXҩWkP>@ 6

+uQK&iFNLӇXFѫFҩXPӅPGҥQJ3QHX1HW$ &ѫFҩXFyPӝWEXӗQJNKt% WU̩QJWKiLFK˱DE˯PNKtE WU̩QJWKiLVDXNKLE˯PNKt [27]

7KLӃWNӃEXӗQJNKt

1KѭӣKuQK OjPһWFҳWFӫDEXӗQJNKtOLrQWLӃSQKDX7KLӃWNӃFӫDW~LNKtGӵDWUrQmô hình Yeoh [28]

x XOjÿӝ dӏch chuyӇn cӫa thành buӗQJNKtÿѭӧFEѫPFăQJX Xx,uy,uz)

Trang 27

/8Ұ19Ă17+Ҥ&6Ƭ

ĈӇFyÿѭӧFÿӝGӏFKFKX\ӇQ[27] , trong hình 3.4b, KOjÿӝGӏFKFKX\ӇQOӟQQKҩWFӫDWKjQKEXӗQJNKtNKLÿѭӧFEѫPFăQJYjJӕFWӑDÿӝ2QҵPӣWkPEXӗQJNKt;HPQKѭÿӝGj\FӫDWKjQKEXӗQJNKtOjNK{QJÿәLWUѭӟFYjVDXNKLEѫPNKt7ӑDÿӝEҩWNǤ ÿLӇPQjRWUrQWKjQK[\] YjVDXNKLEѫPNKtWKuFiFWӑDÿӝFӫDÿLӇPÿy[¶\¶]¶

( ', ', ')x y xx y, hfzfx ,z ,

§ § · § · · ¨ ¸ ¨ ¸¨ © ¹ © ¹ ¸

( ,u u uxy, z) 0,hfzfx , 0

§ § · § · ·¨ ¸ ¨ ¸¨ © ¹ © ¹ ¸

Trang 28

/8Ұ19Ă17+Ҥ&6Ƭ

7URQJÿyV(h) OjWKӇWtFKWăQJWKrPFӫDEXӗQJNKtVDXNKLEѫP7KHR WDFyÿѭӧFSKѭѫQJWUuQKJLӳDiSVXҩWP YjÿӝELӃQGҥQJh

6144 6144525 3675

%̫QJ1 &iFWK{QJV͙FͯDEX͛QJNKt

&KLӅXUӝQJFӫDEXӗQJNKt b (mm) &KLӅXFDRFӫDEXӗQJNKt a (mm) ĈӝGj\FӫDWKjQKEXӗQJNKt d (mm) KRҧQJFiFKJLӳDFiFEXӗQJNKtk (mm)

6ӕEXӗQJNKt FӫDFѫFҩXPӅP

12 10 1,5 1 12

7KLӃWNӃFѫFҩXPӅP

Trang 29

/8Ұ19Ă17+Ҥ&6Ƭ

Hình 3.4 7KL͇WN͇YjNtFKWK˱ͣFF˯F̭XP͉P(a) +uQKFKL͇XWUͭFÿR(E +uQKFKL͇XÿͱQJ(F +uQKFKL͇XE̹QJ(G +uQKFKL͇XF̩QK(e) 0̿WF̷W$-A, ( I 0̿WF̷W%-B

7KLӃWNӃFѫFҩXPӅPÿѭӧFWUuQKEj\WURQJ Hình 3.4 CѫFҩXFyNtFKWKѭӟFWәQJWKӇ85 PPîPPîPPGjLîUӝQJîFDR QKӓKѫQQJyQWD\QJѭӡLPӝWFK~W&ѫFҩXEDRJӗP SKҫQQKѭ+uQKD FiFEXӗQJNKtQҳSYjQҳS1Kѭ+uQKH JӗPEXӗQJNKtYjFyWKjQKGj\ PP.KRDQJEXӗQJÿѭӧFWKLӃWNӃGj\ mm theo [29], NKRҧQJFiFKJLӳDKDLEXӗQJNKtOLrQWLӃSÿӇXӕQFRQJGӉGjQJYjKҥQFKӃXӕQWKHRFKLӅXQJѭӧFOҥLOj mm ĈѭӡQJGүQNKt FyWKLӃWGLӋQQӳDKuQKWUzQEiQNtQK PPÿѭӧFWKLӃWNӃÿӇGүQNKtÿӃQFiFEXӗQJFӫDFѫFҩX 1ҳSÿѭӧFWKLӃWNӃÿӇOjPNtQEXӗQJNKtGj\1,5 PPÿӇÿiSӭQJ\rXFҫXWKӭQKҩW vjPӝWUmQKVkX7 PPÿѭӧFFҳWSKtDGѭӟLQҳSÿӇOҳPFҧPELӃQXӕQFRQJ ÿӇÿRÿӝ FRQJFӫDFѫFҩX1ҳSSKtDGѭӟLQҳSYjÿѭӧFWKLӃWNӃYkQÿӇWăQJNKҧQăQJJҳSYұW YjEҳWFKѭӟFYkQWD\FӫDFRQQJѭӡLFҩXWU~FJӧQVyQJYjFҩXWU~Frãnh xLrQÿѭӧFWKLӃWNӃӣPһWGѭӟLQҳS QKѭ+uQK

Trang 30

/8Ұ19Ă17+Ҥ&6Ƭ

Hình 3.5 7KL͇WN͇YkQD YkQJͫQ sóng, (b) vân rãnh xiên.

Hình 3.6 &̭XW̩RF˯F̭XP͉P'G̩QJ3QHX1HW

Trang 31

/8Ұ19Ă17+Ҥ&6Ƭ

3.2 ThiӃt kӃ ÿҫu nӕi và kҽp mӅm

Hình 3.7 &˯F̭XP͉PFyO̷Sÿ̯XQ͙L

ĈҫXQӕLFӭQJJLӳDFѫFҩXPӅPYjÿӃNҽSÿѭӧFWKLӃWNӃÿӇOҳSUiSEӝNҽSYӟLFiFFѫFҩXPӅPĈӇWUiQKVӱGөQJYtWWUrQFѫFҩXPӅPW{LÿmWKLӃWNӃPӝWÿҫXQӕL FӭQJJӗPKDLSKҫQÿӇFӕÿӏQKFѫFҩXPӅP QKѭ+uQK7LӃSWKHRW{LWKLӃWNӃPӝWVӕOӛÿӇEҳWEXORQJWUrQÿӃNҽSYjÿҫXQӕLFӭQJÿӇFӕÿӏQKYӏWUtFѫFҩXPӅPWUrQÿӃNҽSNgoài ra, ÿӇFyWKӇJҳSFiFYұWFyKuQKGҥQJNKiFQKDXÿӃNҽSÿѭӧFWKLӃWNӃKDLGҥQJVҳS[ӃSFiFFѫFҩXPӅPWUrQÿӃFӭQJ QKѭ+uQK'ҥQJOjFҩXWU~F YX{QJJyFWURQJÿyFiFFѫFҩXPӅPÿѭӧFVҳS[ӃSYX{QJJyFYӟLQKDXYjFyWKӇJҳSÿѭӧFQKӳQJYұWFyELrQGҥQJWUzQ'ҥQJOjFҩXWU~FVRQJVRQJWURQJÿyFiFFѫFҩXPӅPÿѭӧFVҳS[ӃSVRQJVRQJWKHRÿ{LPӝWYjFyWKӇJҳSÿѭӧFFiFYұWFyNtFKWKѭӟFGjLĈӇÿiSӭQJJһSÿѭӧFFiFNtFKWKѭӟFYұWWKӇNKiFQKDXĈӃNҽSÿѭӧFWKiӃt NӃFyKDLOӛJҳQÿҫXQӕLFӭQJNKiFQKDXFKRPӛLGҥQJ

Trang 32

/8Ұ19Ă17+Ҥ&6Ƭ

Hình 3.8 Ĉ͇ŃSFͱQJ

Hình 3.9 %͡F˯F̭XŃSP͉PD