THÔNG TIN TÀI LIỆU
TR B GIÁO D C VÀ ÀO T O NG I H C BÁCH KHOA HÀ N I Lê Ng c Trúc PHÂN TÍCH VÀ XU T PH NG PHÁP I U KHI N TAY MÁY CÔNG NGHI P TRONG TÌNH TR NG T N TH T C CH CH P HÀNH K THU T LU N ÁN TI N S I U KHI N VÀ T Hà N i ậ 2021 NG HÓA TR B GIÁO D C VÀ ÀO T O NG I H C BÁCH KHOA HÀ N I Lê Ng c Trúc PHÂN TÍCH VÀ XU T PH NG PHÁP I U KHI N TAY MÁY CƠNG NGHI P TRONG TÌNH TR NG T N TH T C CH CH P HÀNH Ngành : K thu t u n t đ ng hóa Mã s : 9520216 K THU T LU N ÁN TI N S I U KHI N VÀ T NG HÓA NG IH NG D N KHOA H C: GS.TSKH Nguy n Phùng Quang Hà N i ậ 2021 L I CAM OAN Tôi xin cam đoan r ng đơy lƠ cơng trình nghiên c u c a b n thân d i s h ng d n c a ng i h ng d n khoa h c Tài li u tham kh o lu n án đ c trích d n đ y đ Các k t qu nghiên c u c a lu n án trung th c vƠ ch a t ng đ c tác gi khác công b Hà N i, ngày tháng 10 n m 2021 Ng i h ng d n khoa h c Tác gi lu n án GS.TSKH Nguy n Phùng Quang Lê Ng c Trúc i L IC M N L i đ u tiên, xin chân thành c m n sơu s c đ n s h ng d n t n tình c a Th y GS.TSKH Nguy n Phùng Quang su t trình th c hi n lu n án t giai đo n hình thƠnh Ủ t ng c a đ tài đ n xây d ng k ho ch t ng b c th c hi n đ hồn thành lu n án Tơi xin đ c c m n Vi n K thu t i u n T đ ng hóa ( i h c Bách khoa Hà N i) đư t o u ki n thu n l i cho có mơi tr ng nghiên c u c i m nghiêm túc c s v t ch t c n thi t đ th c hi n lu n án Và quan tr ng h n c lƠ đư có nh ng đóng góp trao đ i sâu s c thi t th c v n i dung nghiên c u c a trình th c hi n lu n án Tơi xin đ c g i l i c m n đ n th y cô giáo B môn T đ ng hóa cơng nghi p, B mơn i u n t đ ng (Vi n i n, i h c Bách khoa Hà N i) đư có nh ng h ng d n chuyên môn h t s c c n thi t giá tr Tôi xin chân thành c m n Ban lưnh đ o tr ng i h c S ph m K thu t H ng Yên, Ban lưnh đ o Khoa C khí ng l c, th y đ ng nghi p Khoa C khí ng l c đư t o u ki n giúp đ r t nhi u th i gian làm nghiên c u sinh Tôi xin đ c c m n anh/ch /em nghiên c u sinh c a Vi n K thu t i u n T đ ng hóa, Vi n i n ( i h c Bách khoa Hà N i) đư đ ng viên, khích l , vƠ giúp đ tơi r t nhi u su t trình nghiên c u Tôi xin c m n nh ng ng i b n thân thi t v i ch ng trình ANOT đư giúp tơi có thêm ngh l c giai đo n quan tr ng c a lu n án Cu i cùng, tơi dành tình c m l i c m n chơn thƠnh nh t đ n gia đình tơi, đ c bi t v tơi, EYVTTJ, đư ng h , chia s c v tinh th n l n v t ch t đ có th hồn thành đ c lu n án Tác gi lu n án Lê Ng c Trúc ii M CL C L I CAM OAN i L I C M N ii DANH M C CÁC KÝ HI U VÀ CH VI T T T vi DANH M C CÁC B NG xiv DANH M C CÁC HÌNH V , M TH xv U 1 S c n thi t c a đ tài 2 M c tiêu nghiên c u it Ph ng ph m vi nghiên c u ng pháp nghiên c u ụ ngh a khoa h c th c ti n c a đ tài Nh ng đóng góp c a lu n án B c c c a lu n án T NG QUAN 1.1 Gi i thi u v robot công nghi p 1.2 Các c u hình c b n c a robot công nghi p 1.3 Các thành ph n c a robot công nghi p 1.4 C ch ch p hành 1.5 V n đ t n th t c ch ch p hành kh n ng u n 1.5.1 Các d ng t n th t c ch ch p hành 1.5.2 Tình hình nghiên c u v t n th t c ch ch p hành tay máy robot 12 1.5.3 Phân tích kh n ng u n tay máy cơng nghi p tình tr ng t n th t c ch ch p hành 14 1.5.3.1 Phơn tích đ ng h c c a m t ki u tay máy cơng nghi p có kh p quay n hình b t n th t m t c ch ch p hành 14 1.5.3.2 Các kh n ng u n tay máy công nghi p n hình b t n th t c ch ch p hành 24 1.6 xu t h 1.6.1 H ng nghiên c u c a lu n án 27 ng nghiên c u c a lu n án 27 1.6.2 D ki n đóng góp m i 28 1.7 K t lu n ch ng 28 iii MỌ HÌNH NG L C H C C A TAY MÁY ROBOT 29 2.1 Gi i thi u 29 2.2 V n t c t nh ti n v n t c quay c a khâu 29 2.3 Ph ng trình Euler-Lagrange 32 2.4 Mơ hình đ ng l c h c d ng toán h c 33 2.5 Mơ hình bán v t lý cho tay máy robot 38 2.5.1 Gi i thi u 38 2.5.2 Mơ hình CAD 3D c a tay máy robot 39 2.5.3 Ph ng pháp dùng m ng v t lỦ đ mơ hình hóa h th ng v t lý 41 2.5.3.1 Ph ng pháp dùng Simulink truy n th ng 41 2.5.3.2 Ph ng pháp dùng m ng v t lý 41 2.5.4 Mơ hình bán v t lỦ ch a xét t i ma sát kh p 42 2.5.4.1 Mô ph ng đáp ng đ ng l c h c 43 2.5.4.2 Mô ph ng mô hình robot có vịng u n 46 2.5.5 Mơ hình bán v t lý có ma sát kh p 49 2.6 K t lu n ch T N TH T C 3.1 nh h ng 52 CH CH P HÀNH VÀ PH NG PHÁP I U KHI N 54 ng c a t n th t c ch ch p hành d ng suy gi m mô men 54 3.1.1 Gi i thi u 54 3.1.2 ng xét theo qu đ o kh p 56 3.1.2.1 nh h ng c a t n th t m t c ch ch p hành d ng PDT 58 3.1.2.2 nh h ng c a t n th t m t c ch ch p hành d ng BDT 59 3.1.2.3 nh h ng c a t n th t m t c ch ch p hành d ng BDTR 61 3.1.3 3.2 Ph nh h nh h ng xét theo qu đ o m công tác 63 3.1.3.1 nh h ng c a t n th t m t c ch ch p hành d ng PDT 63 3.1.3.2 nh h ng c a t n th t m t c ch ch p hành d ng BDT 66 3.1.3.3 nh h ng c a t n th t m t c ch ch p hành d ng BDTR 69 ng pháp u n có t n th t c ch ch p hành 72 3.2.1 Gi i thi u 72 3.2.2 Khái quát v lý thuy t u n tr t 73 3.2.3 Khái quát v lý thuy t u n thích nghi 77 3.2.4 Mơ hình h th ng có t n th t c ch ch p hành d ng PDT 80 iv 3.2.5 Thi t k b u n tr t thích nghi có t n th t c ch ch p hành d ng PDT 81 3.2.6 Áp d ng cho tay máy robot 2-DOF 85 3.2.7 Áp d ng cho robot công nghi p 6-DOF 89 3.3 K t lu n ch ng 97 K T QU MÔ PH NG VÀ TH C NGHI M CHO M T D NG TAY MÁY ROBOT 99 4.1 Gi i thi u robot Serpent 99 4.2 ng h c 99 4.2.1 ng h c thu n 101 4.2.2 ng h c ng c 102 4.3 Mơ hình đ ng l c h c 104 4.3.1 Mơ hình tốn h c 104 4.3.2 Mơ hình bán v t lý 105 4.4 L p qu đ o chuy n đ ng 107 4.5 Các k t qu mô ph ng th c nghi m 112 4.5.1 K t qu mô ph ng 112 4.5.2 K t qu th c nghi m 125 4.6 K t lu n ch ng 136 K T LU N VÀ KI N NGH 137 DANH M C CÁC CÔNG TRỊNH Ã CÔNG B C A LU N ÁN 140 TÀI LI U THAM KH O 141 PH L C PL1 v DANH M C CÁC KÝ HI U VÀ CH VI T T T Danh m c ký hi u nv Ký hi u m/s2 m m/s2 m/s2 m/s2 m/s2 m/s2 m/s2 m/s2 m A B 1, C ụ ngh a Tốn t tích Kronecker Ký hi u cho d ng vector hình h c Ký hi u đ o hàm c p m t c a bi n ắ ” theo th i gian Ký hi u đ o hàm c p hai c a bi n ắ ” theo th i gian Ma tr n đ n v có chi u Gia t c t nh ti n d c theo đo n AB dài c a pháp n chung gi a tr c kh p tr c kh p đo d c tr c (tham s D-H) Gia t c t nh ti n l n nh t m t qu đ o t ng quát Gia t c t nh ti n l n nh t d c theo đo n AB Gia t c t nh ti n l n nh t d c theo đo n OA Gia t c t nh ti n d c theo đo n OA Gia t c t nh ti n d c tr c ( , , ) Gia t c t nh ti n l n nh t d c tr c ( , , ) Vector gia t c t nh ti n c a khâu EE h t a đ c s v i thành ph n d c tr c , , H s d ng th c a đa th c thu đ c sau khai tri n bi n tr t thƠnh đa th c Các thành ph n c a vector h t a đ c s Vector ch h ng tr c c a EE Vector tham s đ c c l ng b i b c l ng i m đ u mút c a qu đ o m làm vi c M t m tùy ý khâu Ma tr n đ ng chéo tính theo vector Kho ng bão hòa hàm sat() Vector tham s đ c c p nh t b i lu t thích nghi i m đ u mút c a qu đ o m làm vi c Ma tr n tham s ch a thành ph n b t đ nh Ma tr n giá tr nh n d ng đ c c a Ma tr n sai l ch gi a Bi u di n cho hàm Bi u di n cho hàm Các ma tr n đ ng chéo v i h s d ng V trí m tr ng tâm c a khâu ng giao gi a mi n gi i h n m t c u (tâm m làm vi c , bán kính ) Ma tr n Coriolis/ly tâm vi C C m rad rad m rad m/s2 m/s2 kg.m2 kg.m2 kg.m2 Nm/(rad/s) Ma tr n C v i giá tr nh n d ng đ c Ma tr n Coriolis/ly tâm c a robot 2-DOF dài c a pháp n chung gi a tr c tr c đo d c tr c (tham s D-H) Vùng không gian làm vi c đ y đ c a robot Vùng không gian làm vi c b h n ch c a robot c ch ch p hành th b bó c ng Ph n t h ng s d ng c t , hàng Sai l ch bám gi a kh p đ t th vƠ đáp ng kh p Vector sai l ch bám gi a kh p đ t vƠ đáp ng kh p Vector c t th c a ma tr n đ n v Vector sai l ch v trí v i thành ph n , , Vector sai l ch gi a Sai l ch góc c a vector Hàm phi n h affine SISO Hàm phi n th h affine MIMO c l ng c a hàm h affine MIMO Vector tham s ch a thành ph n b t đ nh Vector giá tr nh n d ng đ c c a Vector sai l ch gi a H ng s d ng th Gia t c tr ng tr ng Vector thành ph n tr ng l c Vector v i giá tr nh n d ng đ c Vector thành ph n tr ng l c c a robot 2-DOF Vector gia t c tr ng tr ng xét h t a đ c s Hàm phi n h affine SISO Hàm phi n h affine MIMO c l ng c a hàm h affine MIMO Ph n t th c a vector Vector thay th cho tích Vector hàm phi n Ma tr n hàm [ ] h affine MIMO Ma tr n hàm [ ] h affine MIMO Mơ men qn tính c a khâu theo tr c Ma tr n tensor quán tính c a khâu xét h t a đ th Ma tr n tensor quán tính c a khâu xét h t a đ c s Ma tr n Jacobi quay ng v i vector Ma tr n Jacobi quay ng v i vector Ma tr n Jacobi t nh ti n ng v i vector H s khu ch đ i c a b u n SMC cho h SISO H s ma sát nh t kh p vii J m J M M M kg m m O m m m m m m m m J rad rad rad/s rad/s2 rad rad rad rad rad rad/s rad/s2 rad rad m Vector tham s c a b u n SMC T ng đ ng n ng c a tay máy robot Ma tr n đ ng chéo tính theo vector Ma tr n đ ng chéo ch a tham s Ma tr n đ ng chéo ch a tham s Các ma tr n tham s c a b u n Các ma tr n tham s c a b u n Chi u dài c a khâu Hàm Lagrange S đ u vào c a h phi n affine MIMO Kh i l ng c a khâu Ma tr n quán tính t ng quát c a tay máy robot Ma tr n v i giá tr nh n d ng đ c Ma tr n quán tính t ng quát c a robot 2-DOF S b c t Các thành ph n c a vector h t a đ c s Vector ch h ng tr c c a EE Các thành ph n c a vector h t a đ c s Vector ch h ng tr c c a EE V trí ban đ u c a EE G c h t a đ th i dài gi a m làm vi c chi u lên Các t a đ c a vector h t a đ c s Vector đ dài gi a m Vector đ dài gi a m Vector v trí m làm vi c c a EE h t a đ c s Vector đ i s c a vector h t a đ c s Vector đ i s c a vector V trí tâm m t c u ch h ng (tâm c tay) T ng th n ng c a tay máy robot Góc quay c a kh p đ c t o b i đ ng c c a kh p Bi n góc kh p V n t c bi n góc kh p Gia t c bi n góc kh p Qu đ o mong mu n c a bi n góc kh p Qu đ o tham chi u c a bi n góc kh p áp ng góc kh p c a mơ hình tốn h c áp ng góc kh p c a mơ hình bán v t lý Vector bi n góc kh p Vector v n t c bi n góc kh p Vector gia t c bi n góc kh p Vector qu đ o mong mu n c a góc kh p Vector qu đ o tham chi u c a góc kh p Vector đ dài gi a m viii TÀI LI U THAM KH O [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] [12] [13] [14] OSHA (2020), ắOSHA Technical Manual, Section IV, Chapter 4: Industrial Robots and Robot System Safety,” Occupational Safety and Health Administration, USA ANSI (2012), ắANSI/RIA R15.06-2012 Industrial Robots and Robot Systems 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s1s5c23s6 c1 c5 s4 s6 c4c6 T60 (3, 2) c4c5c23s6 c6c23s4 s5 s6 s23 T60 (1,3) c1c4 s5 s23 c1c5c23 s1s4 s5 T60 (2,3) c4 s1s5 s23 c1s4 s5 c5c23s1 T60 (3,3) c4c23s5 c5 s23 T60 (1, 4) c1 c5d d c23 c1 c4 d s5 a s23 s1s4 s5d c1a s2 T60 (2, 4) s1 c5d d c23 s1 c4d s5 a s23 s4 s5c1d s1a s2 T60 (3, 4) c4 d s5 a c23 c5d d s23 a 2c2 d1 Ti p theo, trích xu t ma tr n quay , , t ma tr n , , (A.2) Sau PL1 thay ma tr n quay vƠo (2.10) đ tính ma tr n tích có h ng T có th tìm vector v n t c quay theo (2.1) nh sau: c23q1c4 s4 q3 q2 c23q1 c2 q1 s23q1 q4 q1 , s2 q1 , q2 q3 , s q q 23 c23q1s4 c4 q3 q2 (c23c4c5 s23s5 )q1 q2 s4c5 q3s4c5 q4 s5 c q s q c q c q (c c s 23s 1c 4)q 2 q4 s s3 4 q s5s q c 23 23 5 5 v i ph n t 6 x q1 (c4c5c6 s4 s6 )c23 c6 s23s5 c5c6 s4 c4 s6 q2 , , (A.3) c5c6 s4 c4 s6 q3 c6 s5q4 s6q5 6 y q1 (c4c5 s6 c6 s4 )c23 s6 s23s5 c5 s4 s6 c4c6 q2 c5 s4 s6 c4c6 q3 s6 s5q4 c6q5 Thay 6 z q1 c23s5c4 s23c5 q2 s5 s4 q3s5 s4 q4c5 q6 (A.4) , , (A.3) (A.4) vào (2.26) có th tìm ma tr n Jacobi quay 0 0 c2 0 0 0 s2 0 0 J R1 0 0 , J R2 0 0 q 0 0 0 0 0 c c s s 0 23 4 1 1 0 , J R4 s23 0 0 J R3 c s c c 0 0 q 0 0 0 23 4 c c c s s c5 s4 c5 s4 s5 0 23 23 J R5 c23s4 c4 c4 1 0 (A.5) q s c c c s s s s s c 0 23 23 5 v i ph n t J R6 (1,1) (c6c4c5 s4 s6 )c23 s5 s23c6 J R6 (1,3) c6 s4c5 s6c4 J R6 (1,5) s6 0 1 q 0 c 23 q s 23 J R6 (2,1) s5 s23s6 ( s6c4c5 c6 s4 )c23 J R6 (2,3) s4 s6c5 c6c4 J R6 (2,5) c6 J R6 (1, 2) c6 s4c5 s6c4 J R6 (1, 4) s5c6 J R6 (1,6) J R6 (3, 2) s5 s4 J R6 (3, 4) c5 J R6 (3,6) J R6 (3,1) s5c4c23 c5 s23 J R6 (2, 2) s4 s6c5 c6c4 J R6 (3,3) s5 s4 J R6 (3,5) J R6 (2, 4) s5 s6 J R6 (2,6) T vector v trí m tr ng tâm c a khâu xét h t a đ th ,( ), tìm vector v trí theo (2.14) pC0 (A.6) a xC s2 yC 2c2 c1 s1zC c1xC1 s1zC1 c1zC1 s1xC1 , pC0 a xC s2 yC 2c2 s1 c1zC y d s y a x c d C1 C2 C2 PL2 c1 a xC s23 a 2c1s2 c1c23 zC s1 yC s1 a xC s23 a s1s2 s1c23 zC c1 yC (A.7) a3 xC c23 a 2c2 s23 zC d1 vector , , v i ph n t l n l t pC0 (1,1) c1 c4 xC s4 zC a s23 c1 d yC c23 c1a s2 s1 c4 zC s4 xC pC0 pC0 (2,1) s1 c4 xC s4 zC a s23 s1 d yC c23 s1a s2 c1 c4 zC s4 xC pC0 (3,1) c4 xC s4 zC a3 c23 d yC s23 a 2c2 d1 (A.8) pC0 (1,1) c5 xC s5 zC c4 s4 yC a3 c1s23 c1 c5 zC s5 xC d c23 c1a s2 c4 yC s4 c5 xC s5 zC s1 pC0 (2,1) s1 c5 xC s5 zC c4 s4 yC a3 s23 s1 c5 zC s5 xC d c23 s1a s2 c4 yC s4 c5 xC s5 zC c1 pC0 (3,1) ((c5 xC s5 zC )c4 s4 yC a )c23 (c5 zC s5 xC d ) s23 a 2c2 d1 (A.9) pC0 (1,1) c1 c6 xC s6 yC c5 s5 d6 zC c4 c6 yC s6 xC s4 a3 s23 d6 zC c5 c6 xC s6 yC s5 d c1c23 c1a s2 s1 c6 yC s6 xC c4 s4 c6 xC s6 yC c5 s5 d6 zC pC0 (2,1) s1 c6 xC s6 yC c5 s5 d6 zC c4 c6 yC s6 xC s4 a3 s23 s1 d6 zC c5 c6 xC s6 yC s5 d c23 s1a s2 c6 yC s6 xC c4 s4 c6 xC s6 yC c5 s5 d6 zC c1 pC0 (3,1) c6 xC s6 yC c5 s5 d6 zC c4 c6s4 yC s4s6 xC a3 c23 (A.10) d6 zC c5 c6 xC s6 yC s5 d s23 a 2c2 d1 Thay (A.7)-(A.10) vào (2.25) tính đ c ma tr n Jacobi t nh ti n vƠ theo k t qu chi ti t cho ma tr n J T06 (1,1) s1 c6 xC s6 yC c5 s5 d6 zC c4 c6 yC s6 xC s4 a3 s23 s1 d6 zC c5 c6 xC s6 yC s5 d c23 s1a s2 J T0 (2,1) c1 c6 xC s6 yC c5 s5 d6 zC c4 c6 yC s6 xC s4 a3 s23 c6 yC s6 xC c4 s4 c6 xC s6 yC c5 s5 d6 zC c1 d6 zC c5 c6 xC s6 yC s5 d c1c23 c1a s2 s1 c6 yC s6 xC c4 s4 c6 xC s6 yC c5 s5 d6 zC J T06 (3,1) PL3 c6 xC s6 yC c5 s5 d6 zC c4 c6s4 yC s4s6 xC a3 c1c23 J T06 (1, 2) d6 zC c5 c6 xC s6 yC s5 d c1s23 a 2c1c2 J T06 (2, 2) c6 xC s6 yC c5 s5 d6 zC c4 c6s4 yC s4s6 xC a3 s1c23 d6 zC c5 c6 xC s6 yC s5 d s1s23 a s1c2 J T06 (3, 2) c6 xC s6 yC c5 s5 d6 zC c4 c6s4 yC s4s6 xC a3 s23 d6 zC c5 c6 xC s6 yC s5 d c23 a s2 c6 xC s6 yC c5 s5 d6 zC c4 c6s4 yC s4s6 xC a3 c1c23 J T06 (1,3) d6 zC c5 c6 xC s6 yC s5 d c1s23 J T06 (2,3) c6 xC s6 yC c5 s5 d6 zC c4 c6s4 yC s4s6 xC a3 s1c23 d6 zC c5 c6 xC s6 yC s5 d s1s23 J T06 (3,3) c6 xC s6 yC c5 s5 d6 zC c4 c6s4 yC s4s6 xC a3 s23 d6 zC c5 c6 xC s6 yC s5 d c23 c6 xC s6 yC c5 s5 d6 zC c4 c6 yC s6 xC s4 s1 J T0 (2, 4) s1 c6 yC s6 xC c4 c6 xC s6 yC c5 s5 d6 zC s4 s23 c6 xC s6 yC c5 s5 d6 zC c4 c6 yC s6 xC s4 c1 J T0 (3, 4) c23 c6 xC s6 yC c5 s5 d6 zC s4 c6 yC s6 xC c4 J T06 (1, 4) c1 c6 yC s6 xC c4 c6 xC s6 yC c5 s5 d6 zC s4 s23 6 J T06 (1,5) c1 c6 xC s6 yC c5 s5 d6 zC c23 c1c4 s23 s1s4 d6 zC c5 c6 xC s6 yC s5 J T06 (2,5) s1 c6 xC s6 yC c5 s5 d6 zC c23 d6 zC c5 c6 xC s6 yC s5 c4 s1s23 c1s4 J T06 (3,5) d6 zC c5 c6 xC s6 yC s5 c4c23 s23 c6 xC s6 yC c5 s5 d6 zC J T06 (1,6) c1 c4c5 yC s4 xC c6 s6 c4c5 xC s4 yC s23 s5c1 c6 yC s6 xC c23 c5 s4 yC c4 xC s1c6 s1s6 c5 s4 xC c4 yC J T06 (2,6) s1 c4c5 yC s4 xC c6 s6 c4c5 xC s4 yC s23 s1s5 c6 yC s6 xC c23 c5 s4 yC c4 xC c1c6 c1s6 c5 s4 xC c4 yC PL4 J T06 (3,6) c4c5 yC s4 xC c6 s6 c4c5 xC s4 yC c23 c6 yC s6 xC s5 s23 (A.11) , Thay ma tr n , I vào (2.30) s tìm đ c ma tr n quán tính t ng quát M d a vƠo tính đ c ma tr n C theo d ng th c (2.54) l n l t M mi (JT0i )T JT0i JTRi I i J Ri i 1 (A.12) T M M M (A.13) C 16 q q 16 q 16 q q q B ng cách s d ng ph n m m tính tốn cho bi n symbolic (Maple), ta có th tính đ c ma tr n M theo (A.12) ma tr n C theo (A.13) T ng th n ng c a robot IRB 120 đ c tính sau thay k t qu (A.7)-(A.10) vào (2.18) Và vector thành ph n tr ng l c mơ hình đ ng l c h c s thu đ c b i (2.47) v i ph n t g (1) g (2) x C 6c6 m6 yC s6 m6 m5 xC c5 d zC m6 zC 5m5 s5 xC 4m4 c4 yC m6c6 xC s6 m6 m4 zC m5 yC s4 a 3m6 a 3m5 a 3m4 m3 a xC gs23 d6 zC m6 zC 5m5 c5 s5 xC 6c6m6 yC 6s6m6 m5 xC d m6 d m5 d yC m4 zC 3m3 gc23 a m6 a m5 a m4 m2 m3 a xC m2 gs2 c2 m2 gyC g (3) x C 6c6 m6 yC s6 m6 m5 xC c5 d zC m6 zC 5m5 s5 xC 4m4 c4 c6 m6 yC m6 s6 xC m4 zC m5 yC s4 a3m6 a3m5 a3m4 m3 a3 xC gs23 d6 zC m6 zC 5m5 c5 s5 c6m6 xC yC 6s6m6 m5 xC d m6 d m5 d yC m4 zC 3m3 gc23 g (4) c6 m6 xC yC s6 m6 m5 xC c5 d6 zC m6 zC 5m5 s5 xC m4 gc23s4 c6 m6 yC m6 s6 xC m4 zC m5 yC gc23c4 d6 zC m6 zC5m5 c5 s5 c6m6 xC yC 6s6m6 m5 xC5 gc23c4 c6m6 xC yC s6 m6 m5 xC c5 d6 zC m6 zC 5m5 s5 gs23 g (5) g (6) c4c5 yC s4 xC c6 s6 c4c5 xC s4 yC m6 gc23 c6 yC s6 xC m6 gs23s5 (A.14) PL5 ... ch n h ng đ tƠi ? ?Phân tích đ xu t ph n pháp u n tay máy cơng nghi p tình tr ng t n th t h ch p hành? ?? Ph ng h ng nghiên c u d a vào m t d ng tay máy đó, xây d ng mơ hình tay máy ho t đ ng bình... 1.5.2 Tình hình nghiên c u v t n th t c ch ch p hành tay máy robot 12 1.5.3 Phân tích kh n ng u n tay máy công nghi p tình tr ng t n th t c ch ch p hành 14 1.5.3.1 Phơn tích đ ng... tích kh n ng u n tay máy cơng nghi p tình tr ng t n th t c ch ch p hành 1.5.3.1 Phân tích đ ng h c c a m t ki u tay máy cơng nghi p có kh p quay n hình b t n th t m t c ch ch p hành Trong tr ng h
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