Chế tạo bộ lắp ráp robot di động trên cơ sở robot sr5 01 phục vụ đào tạo chuyên ngành cơ điện tử

DAI HOC QUOC GIA HA N Q I CHE TAO BO LAP RAP ROBOT DI DONG TREN CO S d ROBOT SR5-01 PHUC V\J DAO TAO CHUYEN NGANH CO DIEN TlJ Ma s6: QC.07.23 Chu nhiem dh tai: PGS TS Pham Anh TuSn DAI HOC QUOC GIA HA NO! TRUNG TAM THONG TIN THU VIEN 0QC(;CQOO01^ Ha noi - 2010 Tl _ ?• L PHAN MO DAU Muc luc I PHAN M DAU ii Muc luc ii Danh sdch nhiing ngudi tham gia thirc hien de tai iv r Danh muc ode b ^ g so li?u v Danh muc ode hinh vi IL PHANNOI Dat van de T6ng quan cac van de nghien curu 2.1 Phan tich chiic nSng 2.2 Mo phong, thiet ke va che tao robot 2.2.1 Mo phong DUNG CHINH 2.2.2 ThiSt kS chS tao mo dun ca 2.2.3 Xay dung mo dun dieu khien 2.2.4 Xay dung mo dun phan mem dieu khien giao dien nguoi - may 3 Muc tieu, Noi dung va ket qua nghien cuu r 3.1 Lira chon cau tnic va chuc nang 3.2 Mo phong thiet ke va che tao phan ca cua robot di dong 3.2.1 Mo phong dong hoc robot f f r \ 3.2.2 Thiet ke va che tao phan co cua robot 12 3.3 Phat trien phan mem giao dien nguai - may 19 3.3.1 Phan tich cac chiic nang 19 3.3.2 Xay dung cac mo dun 19 3.3.3 Su dung phan mem 26 r \ •> 3.4 He thong dieu khien robot di dong 3.4.1 Phan tich cac chiic nang 27 27 ii 3.4.2 Xay dung cac mo dun 27 Thu nghiem va ket qua 34 4.1 Cdc thu nghi?m tren th\rc te: 34 4.2 Kit qui dat dugrc: 36 4.3 Huang phit trien: 36 Ket luan v4 kien nghi 37 III TAI LIEU THAM KHAO 38 IV PHU LUC 39 in TT Danh sach nhCrng ngvoi tham gia thirc hien de tai H9 v^ Ten Pham Anh Tuan HQC vi Tien sT Chuyen nganh Ca quan cong tac Co dien tu Bo mon Cong nghe Hang khong vii tru, Khoa Co hoc ky thuat va Tu dong hoa Phong DLHVT & CDTCX, Le Xxian Huy Thacsy Co dien tu Vien Cong nghe Vu tru Phong DLHVT & CDTCX, Vuang Thi Dieu Huang Thac sy Nguyen Truong Thanh Thac sy Tu dong hoa Vien Cong nghe Vii tru Phong DLHVT & CDTCX, Co dien tu Vien Cong nghe Vii tru Phong DLHVT & CDTCX, Phung van Hiep Thac sy Dieu khien Vien Cong nghe Wu tru Phong DLHVT & CDTCX, Hoang The Huynh Ky su Co dien tu Vien Cong nghe Vu tru Phong DLHVT & CDTCX, Ha Van Quang Ky su Dieu khien Vien Cong nghe Vu tru Phong DLHVT & CDTCX, Bui Nam Duong Ky su Co dien tu Vien Cong nghe Vii tru Phong DLHVT & CDTCX, Cao Xuan Hoang Ky su Co dien tu Vien Cong nghe Vii tru IV Danh muc cac bang so lieu Bang 1: Cac gia tri cua cac thong so dong hoc ciia robot 11 Bang 2: Cac ham chiic nSng cua che chay hhng tay 20 Bteg 3: Dinh dang dau v ^ cua file kich ban chay 21 B ^ g 4: Bing cdc h ^ chiic nSng ciia che chay tu dong 21 Bang 5: Cic h ^ hien thi g6c nhin 23 Danh muc cac hmh Hinh 1: Robot di dong hai banh Hinh 2: Robot di dpng ba binh Hinh 3: Robot didpng Sojourner Hinh 4: Robot didpng Pioneer P3-AT Hinh 5: Robot Asimo cua tap doan Honda Hinh 6: Robot di dong cua hang Plustech [7] Hinh 7: Cac he true tpa dp gSn vao robot Hinh 8: Dong hoc robot Hinh 9: Dong hoc ciia mot banh xe Hinh 10: Dong hoc cua cdc banh va than robot 10 Hinh 11: Mo hinh 3D ciia robot tren phin mem SolidWorks 13 Hinh 12: TSm mat tren cung cua robot 13 Hinh 13: TSm mat ben cua robot 14 Hinh 14: Ghep n6i vai cac tdm phu tra mot khung vung chac 14 Hinh 15: Thanh ga tang ciing vung 15 Hinh 16: Banh ciia robot di dong vai cac duong gan de tang bam duang 15 Hinh 17: Buoc mot 16 Hinh 18: Buoc hai 16 Hinh 19: Buoc ba 16 Hinh 20: Buoc b6n 17 Hinh 21: Buoc nam 17 Hinh 22: Buoc cuoi cung 17 Hinh 23: Bo lap ghep Robot di dong 18 Hinh 24: Giao dien phan mem a che dieu khien bang tay 20 Hinh 25: Giao dien phan mem a che chay tu dong 22 Hinh 26: So thuat toan ve tren nen OpenGL 23 vi Hmh 27: So d6 thuat toin cua phan mem tren may tinh 24 Hinh 28: PhSn mSm dilu khiln robot chuSi SACR 25 Hinh 29: Camera c6 thi dugc tich hpp them mot each dan gian 25 Hinh 30: Thiet bi xiic giac haptic Omni ciia hang Phantom 26 Hinh 31: So d6 h^ thong dieu khien robot di dong 27 Hinh 32: C4u tnic cua dong ca DC 28 Hinh 33: Phuang phip dilu chi dp rpng xung 29 Hinh 34: Mach c4u H su dung IC s6 L298 30 Hinh 35: Mach c4u H sii dung cic MOSFET 30 Hinh 36: Vi dilu khiln PIC 18F2550 31 Hinh 37: So d6 mach khoi nguon 31 Hmh 38: So dl mach khoi truyen thong 31 Hinh 39: Cic chan cua robot 32 Hinh 40: So mach vi dieu khien trung tam 32 Hinh 41: Toan bp mach dieu khien sau che tao 32 Hinh 42: So dl thuat toan cua phan mem ben duoi vi dieu khien 33 Hinh 43: Robot di chuyin a che dp di thing 34 Hinh 44: Robot di chuyen a che dp re trai, phai 35 Hinh 45: Robot di chuyen vuot doc 35 Hinh 46: Robot di chuyen tranh vat can 36 vii Project Title: ''Manufacturing the mobile robot kit based on SR5'01 robot for Mechatronics Education " Code number: QC.07.23 Coordinator: Vietnam National University Implementing Institution: Department Of Mechatronics, Faculty of Engineering Mechanics and Automation, College Of Technology, VNU Cooperating Institution(s): Duration:from05/2007 to 05/2008 L Objectives: Develop a tool that help mechanical students to familiar with designing, manufacturing and controlling a mechanical control system through building a mobile robot from many function parts (Sensors, Controller, Actuator ) Main contents: Improve Robot Kit SR5 - 01 into Mobile Robot Kit to serve the education of Mechanical Engineering includes either hardware designing or software designing under the construction of modules: • Designing, manufacturing the mobile part that helps the Robot Kit SR5 - 01 to move according to human demand • Improving the Human Interface Software • Designing, Manufacturing the Controller for the Mobile Robot Kit Results obtained: • Succeeding in designing and manufacturing the mobile module bring the serial robot • Succeeding in Building the Human Interface to control the robot from the host computer • Succeeding in designing the control module for Mobile Robot Kit vai II PHAN NOI DUNG CHINH Dat van de De tao mpt cong cu giiip c4c sinh vien Ca dien tu lam quen vai viec thiet ke, che tao dilu khiln c4c h? ca di?n tii, nSm 2007, dl tai "Chi tao bp lip rdp robot di dong tren co so )0t SR5-01 phuc vu diuo tao chuyen nganh ca dien tu" da duac xay dung vdi nhiem vu la I tao bp lip r ^ robot di dpng Mobile Robot Kit tren ca sa Robot Kit SRS-Ol da duac hoan inh khuon dh tii mS so QC.05.14 cap Dai hpc Quoc gia Ha Noi, nghiem thu nam 06 nhim giiip sinh vien c6 mdt bp cong cu hpc tap hoan chinh han vai viec thiet kl, che tao dilu khiln mpt robot di dpng tu cic mo dun co sin (ca cau chap hanh, dpng ca, mo dun In khien ) Tong quan cac van de nghien ciru I Phan tich chuc nang De tao dupe mo hinh dap ling dupe yeu cau tiep can vai viec thiet ke, che tao va dieu den cac he co dien tii thi viec quan trpng dau tien la phai chon duac cau tnic mo hinh hop li, lai thi hien dupe dac trung ca bin ciia mpt he co dien tu tiic la dupe tich hap tu nhilu lan thuoc nhieu ITnh vuc khac nhau: ca khi, dien tu, CNTT Vi vay mo hinh thue nghiem dien tu Robot di dpng da dupe lira chpn vai cau tnic gom ba mo dun sau: - Mo dun CO dupe lua chpn la bp lap rap robot dua tren mo hinh robot di dpng banh dupe dan dpng boi cac dpng co dien mpt chieu - Mo dun dieu khien la he vi xii ly cho phep dieu khien robot tu xa tren may tinh kit nli khong day voi mach dieu khien tren robot - Mo dun phan mem giao dien nguoi - may cho phep thue hien cac thao tac dieu khien, nhap quy dao chay va mo phong chuyen dpng cua robot .2 Mo phong, thilt ke va chi tao robot \2A Mo phong /iec mo phong la giai bai toan dpng hpc robot tu phan tich de tin tham s6 hinh hpc cac ;hi tiet ciia robot, tham so dpng hpc chpn lira cac ca cau chap hanh va phuc vu viec dilu diien Qua trinh mo phong thue hien lan lupt theo cac buoc sau: - Xay dung mo hinh dong hgc robot - Giai mo hinh dong hgc robot de tim cac thong so dong hgc IL PHAN NOI DUNG CHINH Dat van de D I tao mpt cong cu giiip c4c sinh vien Ca dien tu lam quen vai viec thilt kl, chi tao va dilu khiln cic hp ca di?n tii, n5m 2007, dl tai "Chi tao bp lip rip robot di dpng tren co so robot SR5-01 phuc vu dio tao chuyen nganh ca dien tii" da dupe xay dung \6i nhiem vu la chi tao bp lip r ^ robot di dpng Mobile Robot Kit tren ca sa Robot Kit SRS-Ol da dupe hoan khuon dl tii ma s6 QC.05.14 cap Dai hpc Quoc gia Hi Noi, nghiem thu nam 2006 nhim giiip sinh vien c6 mpt bp cong cu hpc tap hoin chinh han vcii viec thiet ke, che tao va dilu khien mpt robot di dpng tu cic mo dim co sin (ca cau chap hinh, dpng co, mo dun dilu khiln ) Tong quan cac van de nghien cuu 2.1 Phan tich chirc nang De tao dupe mo hinh dip ling dupe yeu cau tiep can vai viec thiet ke, che tao va dieu khien cic he co dien tu thi viec quan trpng dau tien la phii chpn dupe cau tnic mo hinh hop li, phii the hien dupe dac trung co bin ciia mpt he co dien tu tiic li dupe tich hop tii nhieu phan thuoc nhieu ITnh vuc khic nhau: co khi, dien tii, CNTT Vi vay mo hinh thue nghiem CO dien tu Robot di dpng da dupe lira chpn vai cau tnic gom ba mo dun sau: - Mo dun CO dupe lua chpn li bp lap rip robot dua tren mo hinh robot di dpng binh dupe dan dpng bai cac dpng ca dien mpt chieu - Mo dun dieu khien la he vi xu ly cho phep dieu khien robot tu xa tren miy tinh kit nli khong day vai mach dieu khien tren robot - Mo dun phan mem giao dien nguoi - miy cho phep thirc hien cic thao tic dieu khien, nhap quy dao chay vi mo phong chuyen dpng ciia robot 2.2 Mo phong, thiet ke va che tao robot 2.2.1 Mo phong Viec mo phong li giii bii toin dpng hpc robot tu phan tich dl tin tham so hinh hpc cac chi tiet ciia robot, tham so dpng hpc chpn lira cac co cau chap hanh va phuc vu viec dieu khien Qui trinh mo phong thirc hien lan lupt theo cac buoc sau: - Xay dung mo hinh dong hgc robot Giai mo hinh dong hgc robot de tim cac thong so dong hgc Bang Thong so ky thuat cua robot di dpng TT Thanh phan Kich thuac Thong so 116x116x84 (mm) Khoang each dieu khien 100 m Kich thuoc banh (p88 X 42 mm Thai gian hoat dpng 120 phut Nguon 12V 2A Nhung bai hpc co the ap dung cong cu robot di dpng giang day E)ieu khien: / Thirc hanh viec thiet ke, che tao mach dieu khien cho robot di dpng bao gom cac mach dien tii: mach dilu khien cong suat, mach truyen thong RS232, mach vi dilu khiln PIC / Thue hanh cac thuat toan dieu khien dpng co v^ Thue hanh dieu khien robot Cakhi / Thue hanh thiet ke va che tao bp khung co cho robot / Thyc hanh lap rap mpt robot di dpng Phan mem ^ Thue hanh viec thiet ke phan mem sii dung ngon ngu lap trinh Visual C++ ^ Thue hanh su dung phan mem de dieu khien va mo phong robot Danh muc cac mon hpc sir dung robot lam cong cu giang day Nhap mon co dien tu R-obot rhirc tap Co dien tu DAI HQCQUOC GIA HA NQI C Q N G HOA XA HOI CHU NGHIA VIET NAM TRiraNG y De nghi thay doi ve du toin kinh phi nhu sau: Nhung dk nghi thay doi khic: Thay doi ten danh sach nhiing nguai tham gia de tai: Thay doi tir TT Ho va Ten Pham Van Bach Ngpc Phan Manh Quan Hoc vi Thac sy Ky su Phung Van Hiep Thac sy Do Thj Ngpc Oanh Vuong Thj Dieu Ky su Chuyen nganh Co hpc ky thuat Ca dien tu Dieu khien tu dpng Ky thuat dien tu Thac sy Ty dpng hoa Vien Cong nghe Vu tru Vien Cong nghe Vu tru Thac sy Thac sy Thac sy Ky su Ky su Co dien tu Co dien tu Ca dien tu Dieu khien hpc Co dien tu Vien Cong nghe Vu tru Vien Cong nghe VG tru Vien Cong nghe Vu tru Vien Co hoc Vien Cong nghe Vu tru 10 Huong Le Xuin Huy Nguyin Truong Thanh Vu Minh Hung V6 Due My Tran Lam • • Co* quan cong tac Vien Co hoc Vien Cong nghe Vu tru Vien Cong nghe Vu tru Thay doi thinh TT Ho yk Ten Hpc vi Chuyen nginh Le Xuan Huy Thac sy Ca dien tu Vuang Thj Dieu Huang Thac sy T\r dpng hoa Nguyen Truong Thanh Thac sy Ca di?n tu Phiing Vin Hiep Thac sy Dieu khiln Hoang Thi Huynh Ky su Co dien tu Ha Van Quang Ky su Dieu khien Biii Nam Duong Ky su Co dien tu Cao Xuan Hoing Ky su Co dien tu Ctfquan cong tic Phong DLHVT & CDTCX, Vien Cong nghe Vu try Ph6ng DLHVT & CDTCX, Vien Cong nghe Vu try Phong DLHVT & CDTCX, Vien Cong nghe Vu tru Phong DLHVT & CDTCX, Vien Cong nghe Vu tru Phong DLHVT & CDTCX, Vien Cong nghe Vu tru Phong DLHVT & CDTCX, Vien Cong nghe Vu try Phong DLHVT & CDTCX, Vien Cong nghe VO try Phong DLHVT & CDTCX, Vien Cong nghe Vu try Cic cin cu, ly dl nghi thay doi; Ngay Inhingi nim ,1 ^' ^ ^ Co* quan chu tri Ngayr^.-?thing .-P.nam Jlo^ ^ Chii nhiem de tai (ky ten) I -DA ^ CON \ f^x.; U/r^ PGS TS Pham Anh Tuan ^ X PHIEU DANG KY KET QUA NGHIEN CUtJ Ten de tii: Tieng Viet: "Chi tgo bg idp rap robot di dgng trin ca so robot SR5-0I phuc vu dao tgo chuyin nganh Ca dien tic*' Tieng Anh: "Manufacturing the mobile robot kit based on SR5-01 robot for Mechatronics Education " Ma so: QC 07.23 Co quan quin ly de tii: Dai hpc Quoc gia Hi Npi Dia chi: 144, duang Xuin Thiiy, Ciu Giay, Hi Npi Dien thoai: 7548664 Co quan chu tri de tai: Bp mon Co dien tu, Khoa Co hpc ky thuat va Tu dpng Hoa, Truong Dai hpc Cong nghe, Dai hpc Quoc gia Ha Npi — — T • -— Tong chi phi thue: 20 trieu dong Trong ngin sich nhi nuac: 20 trieu dong Thai gian nghien cuu: nam Thai gian bit diu: 5/2007 Thai gian kit thiic: 5/2008 Ten cic cin bp phoi hop nghien cuu: Chii tri dl tai: TS Pham Anh Tuin Nhimg nguai tham gia: ThS Le Xuan Huy ThS Nguyin Truong Thanh ThS Vuong Thi Dieu Huong ThS Phung Van Hiep KS Hoang Thi Huynh KS Cao Xuan Hoing KS Hi Van Quang KS Bui Nam Duong So dang ki de tai So chiing nhan dang ky Bao mat Ngiy KQNC A Pho bien rpng rai B Pho bien han che C Bio mit T6m tSt ket qui nghien cuu : Kit qud khoa hgc f - r Tao mpt c6ng cu giiip cic sinh vien Co dien tir lim quen vai viec thiet ke, che tao vi dieu khien robot li mpt he ca dipn tu dien hinh tir cic mo dun co san (he thong ca khi, h? dieu khien, phin mem ) Kit qud ung dung - Sin phim cong nghe: > Mpt bp lip rip Robot di dong hoin chinh bao gom he thong ca cau co khi, he thing dien va dilu khiln, phin mim giao dien nguai - may ho trp mo phong va dilu khiln robot tir miy tinh Kit qud dao tgo - Kit qui bii duang cin bp: Nang cao trinh dp cua cic cin bp khoa hpc ITnh vuc Co dien tu - Dong gop cho viec tang cuong trang thilt bi: tao dupe mot Robot di dpng phuc vu day hpc Kit qud vi tang cuong tiim luc cho dan vi - Kit qua boi duang cin bp: Ning cao trinh dp cua cic cin bp khoa hpc linh vuc Co dien tu - Dong gop cho viec tang cuong trang thilt bi: tao dupe mot Robot di dpng phuc vu day hpc Kien nghTvl quy mo va doi tirorng ap dung ket qua nghien cmi: Tnrdc mat dp diing kSt qua nghien cuu phyc vu dao tao sinh vien nganh Ca hoc ky thuat tai Tniemg Dai hpc Cong nghe, Dai hpc Quoc gia Ha Npi Thu truong ca quan quin ly de tii ... hmh Hinh 1: Robot di dong hai banh Hinh 2: Robot di dpng ba binh Hinh 3: Robot didpng Sojourner Hinh 4: Robot didpng Pioneer P3-AT Hinh 5: Robot Asimo cua tap doan Honda Hinh 6: Robot di dong cua... lip rip robot di dpng tren co so robot SR5- 01 phuc vu dio tao chuyen nganh ca dien tii" da dupe xay dung 6i nhiem vu la chi tao bp lip r ^ robot di dpng Mobile Robot Kit tren ca sa Robot Kit... dieu khien tu xa Robot di dpng chuyen dpng bang chan: Hinh 5: Robot Asimo ciia tap doin Honda Hinh 6: Robot di dpng cua hang Plustech [7] Trong cic loai robot di dpng a tren thi nhimg robot di