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03-Oct-14
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NG LC HC CHO ROBOT
Th.S Nguyn Tn Phc.Tel: 01267102772.B mn CT- H Nng Lm Tp.HCM.
BI TON NG HC
Nhc li bi ton ng hc:
Xc nh v tr : bit gc khp v tr khu cuiBi ton vn tc ma trn
Jacobian.Bi ton ng hc ngc: v tr EF qu o gc khp
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03-Oct-14
2
MC CH - PHNG PHP NGHIN CU NG LC HC
Cho mc ch thit k , iu khin robot , cn thit phi c mt m hnh ton hc
th hin
mi quan h ng lc hc tc dng ln robot .
Cn xy dng cc phng trnh vi phn cho chuyn ng ca robot da trn c s
cc nh
lut bo ton nng lng cho robot,
Nghin cu ng lc hc nhm gii quyt bi ton sau cho robot:
Tnh ton cc lc khp v cc momen ti cc gc khp pht sinh trong qu trnh
chuyn
ng ca robot.
Xc nh cc sai s so vi chuyn ng hoch nh lm c s cho qu trnh iu
khin
robot.
NHC LI C HC VT RN
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03-Oct-14
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03-Oct-14
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NHC LI V VECTOR
CC VN NH LUT NNG LNG
ng nng: Tnh tin
quay
Th nng
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03-Oct-14
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GIA TC CA VT RN:
nh lut bo ton nng lng.
lp phng trnh chuyn ng , ta cn o
hm theo thi gian.
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03-Oct-14
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PHNG TRNH NG LC HC LAGRANGE-EULER.
V d 1: Lp phng trnh ng lc hc cho c h:
ng nng:
Th nng
Hm Lagrange
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03-Oct-14
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V d 2: Lp phng trnh cho c h bn di
ng nng:
Th nng
Hm Lagrange2 21 1
2 2L KE PE J K = =
ng nng:
Th nng
Hm Lagrange 2 21 12 2
L KE PE mx kx= =
V d 3: Lp phng trnh cho c h bn di
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03-Oct-14
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ng nng:
Th nng
Hm Lagrange21 ( ) cos 0
2L K P m l mgl = = + =
V d 4: Lp phng trnh cho c h bn di
V D ROBOT 2 BC T DO RR
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03-Oct-14
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PHNG TRNH NG LC HC DNG TNG QUT CA 1 ROBOT
ng nng tng qut:
Th nng tng qut
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03-Oct-14
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PHNG TRNH NG LC HC DNG TNG QUT CA 1 ROBOT
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03-Oct-14
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BI TON NG LC HC NGHIN CU CI G ?
2 DNG BI TON NG LC HC
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03-Oct-14
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PHNG TRNH NG LC HC CHO CARTESIAN ROBOT
..
..
..
1 2 3 0 0 0 10 2 3 0 ( 2 3) 20 0 3 0 3
xm m m F
m m y m m g Fm F
z
+ + + + + =
PHNG TRNH NG LC HC CA CARTESIAN ROBOT
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03-Oct-14
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NG LC HC ROBOT 2 KHU RT
NG LC HC ROBOT 2 KHU RT
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NG LC HC ROBOT 2 KHU RT
SCARA ROBOT
Ch : bao gm robot 2 khu v khu tnh tin theo phng z.
SV v t gii v tham kho kt qu.
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Khu 3:
ng nng :
Th nng : P3= m3gz3.
. 23 3 3
12
K m z=..
3 3 3 3m z m g =
p dng lagrange
2 2 2 ..1 2 1 2 2 1 2 2 2 2 2 1 2 2 1
2 2 ..2 2 2 1 2 2 2 2 2
..
3 3
( ) 2 cos cos 0cos 0 .
0 0
m m a ma mm ma maa
ma maa ma
m z
+ + + +
+
1 2 1 1 2 2 1 2
2 2 1 2
3
( ) cos cos( )cos( )
m m ga m gam ga
m g
+ + + + +
. . . 2
2 1 2 1 2 2 2.2
2 1 2 1 2
(2 ) sinsin
0
m a a
m a a
+
+ =
1
2
3
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03-Oct-14
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VIT PHNG TRNH NG LC HC CHO ROBOT RTT C TA HNH TR NH SAU- v
nh
1
2d3d
2a
01 zz
2d3d
2a
01 yy
01 xx
1
xx 2
zy
x 3x
3y
3z
2y
01 OO
2O
3OOE
2O2z
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03-Oct-14
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2 2 21 2 3 2 3 3 3 3 3 3 2
2
3 2 3
1( 2 ) 02
( ) 0 01 02
J J m a m l m d m d l m a
M q m
m a m
+ + + +
=
3 3 3 3
23 3 1
(2 )( , ) 0
( )
d m d m lV q q
d l m
=
& &
&
&
2 3
0( ) ( )
0G q m m g
= +
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03-Oct-14
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CHC CC BN MAY MN
