TTR

Tnh ton thit k robot
Mc lc
GVHD: Th.S inh Khc Ton
Trang
Li ni u ............................................................................................................ 4
CHNG I PHN TCH V CHN KT CU .............................................. 5
1 S bc t do cn thit ..................................................................................... 5
2 Cc phng n thit k v cu trc cc khu khp........................................ 6
3 Phn tch v thit k cu trc c chn ....................................................... 7
CHNG 2 GII BI TON NG HC ...................................................... 9
2.1 Kho st bi ton ng hc thun Robot .................................................... 9
2.2 Thit lp cc phng trnh ng hc robot .............................................. 10
2.3 Bi ton ng hc thun ............................................................................ 12
2.4 Bi ton ng hc ngc........................................................................... 18
CHNG 3 TNH HC ROBOT ..................................................................... 21
3.1 Phn tch lc .............................................................................................. 21
3.1.1 Tnh lc v momen khu 3 ............................................................. 21
3.1.2 Tnh lc v momen khu 2................................................................. 22
3.1.3 Tnh lc v momen khu 1................................................................. 23
3.2 Tnh ton lc v momen ln nht trng thi tnh................................... 24
CHNG 4 NG LC HC ROBOT.......................................................... 25
4.1 Xy dng cu trc ng lc hc ............................................................... 25
4.1.1 Xc nh th nng ca robot............................................................... 26
4.1.2 Xc nh cc Ma trn Jacobi tnh tin v Jacobi quay ....................... 26
4.2 Xc nh ng nng ca Robot ................................................................. 27
4.3 Xc nh cc ma trn Clioris ..................................................................... 28
4.4 Xc nh lc suy rng .............................................................................. 30
4.5 Phng trnh vi phn chuyn ng ca robot ........................................... 30
CHNG 5 TNH CHN THIT B DN NG ROBOT ........................... 32
Phn A B TRUYN VITME AI C BI.................................................... 32
5.1 Cc thng s u vo ................................................................................ 32
Bc vitme l .................................................................................................... 33
Tm lc ct chnh ca Robot khi gia cng ...................................................... 33
1
iu kin lm vic v cc thng s s c tnh chn ................................... 33

5.2 Chn trc vt .............................................................................................. 34
5.2.1 Tnh ton lc dc trc ........................................................................ 34
5.5.2 Tnh ton ti trng ng Ca ................................................................ 35
5.2.3 Chiu di trc vt-me .......................................................................... 35
5.2.4. Chn ng knh trc vt .................................................................. 36
5.2.5 Chn series ......................................................................................... 37
5.3 Tnh chn bi ...................................................................................... 37
5.4 Tnh ton kim nghim ............................................................................. 38
5.4.1 kim nghim trc vt .......................................................................... 38
5.4.2 Kim nghim ln ............................................................................. 40
5.5 Chn ng c ............................................................................................ 42
5.5.1 Momen pht ng ............................................................................. 42
5.5.2 Chn ng c .................................................................................... 44
PHN B B TRUYN BNH RNG CHO KHU 3................................. 45
5.1 Thng s u vo ..................................................................................... 45
5.2 Tnh ton ng hc................................................................................... 45
5.3 Thit k b truyn ..................................................................................... 47
5.3.1 Chn vt liu ..................................................................................... 47
5.3.2 Xc nh ng xut cho php............................................................... 48
5.4 Tnh ton thit k b truyn bnh rng .................................................... 51
5.4.1 Xc nh khong cch trc ................................................................ 51
5.4.2 Xc nh thng s n khp................................................................ 52
5.5 Kim nghim b truyn bnh rng ........................................................... 53
5.5.1 Kim nghim bn tip xc ............................................................ 53
5.5.2 Kim nghim bn un ................................................................... 55
5.5.3 Kim nghim v qu ti ..................................................................... 56
5.5.4 Tng kt cc thng s c bn ca b truyn ...................................... 57
5.6 Tnh ton thit k khp ni ...................................................................... 58
5.6.1 Tnh chn khp ni ............................................................................ 58
5.6.2 Kim nghim khp ni...................................................................... 60
5.6.3 Tng kt thng s c bn ca ni trc vng n hi ......................... 60
5.7 Tnh ton thit k trc .............................................................................. 61

5.7.1 Chn vt liu ...................................................................................... 61
5.7.2 Xc nh lc v s t lc ............................................................. 61
5.7.3 H phng trnh cn bng lc v momen .......................................... 62
5.7.4 Xc nh ng knh trc.................................................................. 64
5.7.5 Tnh mi ghp then ............................................................................ 66
5.7.6 Kim nghim bn trc ................................................................... 67
5.8 Chn ln ................................................................................................ 72
5.8.1 ln trc I.......................................................................................... 72
5.8.2 ln trc II ....................................................................................... 75

Li ni u
Nn khoa hc k thut ngy nay ang pht trin rt mnh m, dn ti nhng

thay i ln lao trong sn xut. l s thay i lc lng sn xut trong mi
nghnh ngh bng vic thay sc lao ng ca ngi bng my mc nhm m
bo tng nng sut lao ng, sn lng cng nh cht lng sn phm. Do
vic s dng cc tay my hay cn gi l Robot cng nghip vo trong sn xut
ang rt c a chung bi v chng p ng c cc yu cu trn. Nh
chng ta bit Robot c rt nhiu u im c bit l cht lng v chnh
xc, ngoi ra cn phi k n hiu qu kinh t cao, c th lm vic trong mi
trng c hi m con ngi khng th lm c, cc cng vic yu cu cn
thn khng c nhm ln,thao tc nh nhng tinh t i hi trnh ca th
bc cao, v quan trng l Robot khng b cng thng nh con ngi nn c th
lm vic sut c ngy.
Ngy nay vic vit ch v khc ch trn cc vt liu ca con ngi l mt trong
nhng nhu cu rt cn thit , vic vit p v u trong thi gian di qu l iu
kh khn i vi con ngi, chnh v th m vic nghin cu ch to ra mt thit
b nh cnh tay robot lm c vic c ngha rt ln.
Vic tm hiu nghin cu Robot trong khun kh mn hc tnh ton thit k
robot s l c s chng em tnh ton, thit k cng nh iu khin cc loi
Robot trong cng nghip phc v sn xut. C th, y chng em chn ti
tnh ton, thit k Robot vit ch phc v vic khc ch trn cc sn phm cng
nghip.
CHNG I
PHN TCH V CHN KT CU
1 S bc t do cn thit
bi yu cu tnh ton thit k Robot khc ch trn mt phng ngang vi

hng vit ty trong khng gian lm vic 5070cm, t ta c th hnh
dung cn 2 bc t do xc nh ta mt im trn mt mt phng, mt
bc t do xc nh chiu cao trong khng gian, do s bc t do ti
thiu m Robot cn c l 3 bc t do. Di y l mt s c cu c th dung
xc nh cc v tr trong khng gian.
C cu robot ta ecac: L tay my c 3 chuyn ng c bn tnh tin theo
phng ca cc trc h ta gc (cu hnh TTT). Khng gian lm vic ca bn

tay c dng khi ch nht.
Hnh 1.1 C cu ta ecac

C cu robot ta tr: Khng gian lm vic ca robot c dng hnh tr rng.
Thng khp th nht l chuyn ng quay.
Hnh 1.2 C cu ta tr
C cu robot ta cu: Khng gian lm vic ca robot c dng hnh
cu.
Hnh 1.3: C cu ta cu
2 Cc phng n thit k v cu trc cc khu khp
Phng n 1: Robot 4DOF TTRR
Phng n 2 : Robot 3DOF RRR
Phng n 3: Robot 3DOF RRT
Phng n 4: Robot 4DOF TTRR
Phng n 5: Robot 4DOF RTRR
Phng n 6: Robot 3DOF RTR
Phng n 7 : Robot 3DOF TTR

3 Phn tch v thit k cu trc c chn
Vi kt cu 4, 5, 6 bc t do, Robot s tr nn linh hot hn, s di chuyn

ca Robot s uyn chuyn hn nhng ng thi vic tnh ton v thit k cng
phc tp hn do chi ph cho Robot l rt ln. tit kim v mt kinh t
nhng vn m bo c cc yu cu ca bi ton t ra, ta la chon phng
n 7: Robot 3 bc t do TTR, Robot c 2 khu tnh tin xc nh v tr mt
im trn mt phng v khu cui chuyn ng quay xc nh ta theo
chiu cao v hng vit trong h ta D Cc. Do vic la chn phng
n ny hon ton tha mn yu cu bi ton khi cn thao tc trn mt phng
vi hng vit ty .
Kt cu 3D s b ca Robot c thit k nh sau.
Hnh 1.4 phng n thit k cho robot TTR

Khp 1 l khp tnh tin s i dc chiu di min lm vic theo yu cu , khp
2 l khp tnh tin v s i ngang min lm vic, nh vy vi 2 khp trn ta
xc nh v tr ca mt im trn mt phng thao tc.
Khp 3 l khp quay iu chnh cao ca bt v so vi mt bn ngang.
Khu 1 v khu 2 s dng vt me bi v cng l tnh tin
Khu 3 dng bi.
Phn tnh chn vt me , bi v cc thng s chi tit cho kt cu s c trnh
by k trong phn thit k c kh v tnh chn vt me bi bn di.
Vi kt cu nh trn theo nhm 4 l ph hp vi yu cu ca bi.
Sau khi la chn kt cu v chn s b cc khu, khp th s tin hnh gii cc
bi ton ng hc, ng lc hc,chn ng c, v m phng.
CHNG 2
GII BI TON NG HC
2.1 Kho st bi ton ng hc thun Robot
Vi m hnh tnh ton bn trn ta t cc h trc ta theo quy tc Denevit

Hatenberg v c s h trc nh hnh v:
Hnh 2.1 s h trc robot

Sau khi c s trn th ta thit lp bng DH:
Bng 2.1 Bng cc tham s ng hc ca robot
khu
1
q1
a1
900
q2
900
q3
a3
Trong q1 , q2 , q3 l cc bin khp , cn a1 , a3 l cc hng s

V X=[x1,x2,x3]T l vc t biu din v tr ca bn kp trong h c nh.
q [q1 ,q2 ,q3 ] l cc gc xoay v tnh tin ca cc bin khp
- Dng tng qut ca ma trn Denavit-Hartenberg cho cc khu

cos i
sin
i
i-1
Ai=
0
sin i cosi
cosi cosi
sin i sin i
sin i cosi
sin i
0
cosi
0
a i cosi
a i sin i
di
2.0
Ma trn Denavit-Hartenbergca khu 1:

1
0
0
A1
0
0 0 a1
0 1 0
1 0 q1
0 0 1
2.1

1
0
1
A2
0
0
0
1 0 q2
0 0 1
0 0
0 1
2.2

cos q3
sin q
2
2
A3
0
sin q3 0 a3.cos q3
cos q3 0 a3.sin q3
0
1
0
0
0
1
2.3
2.2 Thit lp cc phng trnh ng hc robot
T cc ma trn (2.1) v (2.2) ta xc nh c ma trn bin i ta thun nht

ca khu 2 so vi trc h ta c nh
l :
1 0
0 1
0
0
1
A2 A1. A2
0 0
0 0
cos q3
sin q
3
0
0
1
2
A3 A1. A2 . A3
0
0 a1
0 q2
1 q1
0 1
(2.4)
sin q3 0 a3.cos q3 a1
cos q3 0 a3.sin q3 q2
0
1
q1
0
0
1
(2.5)
10
0
- Ma trn A3 cho ta bit hng v v tr ca khu thao tc trong h ta c
nh hay ni cch khc l v tr ca im tc ng cui v hng ca h ta
ng gn vo khu ti im tc ng cui trong h ta c nh. V th n cn
c biu din qua thng s cc bin khp ta tm gi l qi. Trong bi ton c th
th n l cc khp xoay i, vi i=13.
- Khi , ma trn (2.5) c k hiu thnh
A3 ( q )
S dng cc gc Cardan xc nh hng ca vt rn. Ta gi xE , yE , zE , , , l

gi tr m t trc tip v tr v hng ca EX2Y2Z2 so vi h ta O0Z0Y0Z0.
Trong : xE , yE , zE l cc ta im E v
l cc gc quay Cardan
ca EX3Y3Z3 so vi h ta O0Z0Y0Z0. Do cc ta thao tc u l hm ca
thi gian. Nn ta c th biu din:
0
0 Rn (t )
An (t ) T
0
rE (t )
(2.6)
Vi: 0 AE l ma trn Cardan m ta hng EX2Y2Z2 so vi h ta

O0Z0Y0Z0.
0
rE l vect m t v tr ca im tc ng cui trong h ta
O0Z0Y0Z0.
0
Rn RCD
rE (t ) xE (t),
yE (t), zE (t )
cos cos
sin sin cos cos sin

cos sin cos sin sin
(2.7)
cos sin
sin sin sin cos cos
cos sin sin sin cos
sin
sin cos
cos cos
0
- Do ma trn A3 ( q ) biu din v tr v hng ca khu thao tc trong h ta
c nh thng qua bin khp qi (Ma trn trng thi khu thao tc theo cu trc
0
ng hc). Cn ma trn AE (t ) cng m t v tr v hng ca khu thao tc
thng qua h ta khu thao tc. y ta chn cch biu din thng qua cc
gc Cardan.
0
0
T ta c PT ng hc ROBOT c dng: A3 (q ) An (t ) . Vi
n = 3 v c cu ROBOT c 3 khu.
0
A3 (q ) 0 A3 (t )
(2.9)
11
(2.8)
- T cc h thc (2.5), (2.6), (2.7),(2.8) ,(2.9) Ta xy dng c h 6 phng

trnh c lp nh sau:
f1 0 A3 (q)[1, 4] 0 A3 (t )[1, 4] a3 cos q3 a1 xE
0
0
f 2 A3 (q)[2, 4] A3 (t )[2, 4] a3 sin q3 q2 yE
f 0 A (q)[3, 4] 0 A (t )[3, 4] q z
3
3
3
1
E
0
0
f 4 A3 (q)[1,1] A3 (t )[1,1] cos q3 (cos cos )
f 0 A (q)[2, 2] 0 A (t )[2, 2] cos q ( sin sin sin cos cos )
3
3
3
5
0
0
f 6 A3 (q)[3,3] A3 (t )[3,3] 1 (cos cos ) 0
(2.10)
2.3 Bi ton ng hc thun
Bi ton ng hc thun: Cc thng s u vo: q1 , q2 , q3

Thng s cn xc nh: im tc ng cui E = ( xE , y E , z E ), v hng ca khu
tc ng cui so vi h ta c s.
* Ta c ta ca im tc ng cui:
xE 0 A3 1,4 a3 cos q3 a1
0
yE A3 2,4 a3 sin q3 q2
0
z
A3 3,4 q1
(2.11)
Ta chn quy lut chuyn ng cho robot theo thi gian nh sau :

t
q1 (t ) 2 3 sin( 6 )
q2 (t ) sin( )
3 6
4
q3 (t ) 6 2 sin( 3 )
.
2
t
q1 (t )
cos( )
18
6
.
2
t
q2 (t ) cos( )
24
4
2
q3 (t ) cos( t )
6
3
2.12
V cc thng s hnh hc:

a1= 50 cm, a3 = 30 cm
thun tin cho vic tnh ton ta s dng phn mm tnh ton maple
Thay cc gi tr q1 (t ) , q2 (t ) , q3 (t ) v cc thng s hnh hc a1 , a3 vo biu
thc ca xE, yE, zE ta c ta c ta ca im thao tc l :
12
Ta c th v th ca im thao tc cui qua cc ta nh sau vi t=0..10s:
Hnh 2.1 th xE theo t
13
Hnh 2.2 th yE theo t
Hnh 2.3 th zE theo t
14
Hnh 2.4: th qu o chuyn ng ca im tc ng cui trong khng gian

Tnh vn tc im tc ng cui E, vn tc gc khu thao tc
Vn tc im tc ng cui ca Robot
T phn trn ta xy dng c quy lut chuyn cng nh tm c ta
ca khu thao tc cui, cc bin khp v o hm cc cp theo t bit :
2.13
qi [q1, q2 , q3 ]T
Suy ra
2.14
q [q1 , q2 , q3 ]T
Vn tc ca khu thao tc chnh l o hm v tr khu thao tc theo thi gian:

VE= r E= xE , yE , zE
2.15
T cc phng trnh v v tr ca im tc ng cui ca robot ta tnh c vn

tc ca im cui
15
th vn tc ca im E trong khng gian thao tc:
Hnh 2.5 th vn tc im E
o hm cc hm ca vn tc ta c cc th ca gia tc im E theo cc
phng:
Hnh 2.6 th gia tc im E theo cc phng

16

Cc ma trn cosin ch hng ca cc khu:
Ta c :
1 0 0
R2 0 1 0
0 0 1
cos q3
R3 sin q3
0
2.18
0
0
1
sin q3
cos q3
0
2.19
Cc vector v tr ca h ta gn vi tng khu khi l :

a1
VT1 0

q1
a3 cos q3 a1
VT3 a3 sin q3 q2
q1
a1
VT2 q2
q1
(2.
o hm cc ma trn quay trn ta c :
0 0 0
R1 0 0 0
0 0 0
sin q3
R 3 cos q3
2.21
cos q3
sin q3
0
0 0 0
R2 0 0 0
0 0 0
0 . q 3

0
2.22
2.19
T cc ma trn trn ta c cc ma trn sng v vn tc gc (tuyt i ) cc

khu l:
i Ri .RiT iz
iy
iz
0
ix
iy
ix
0
(2.24)
vi i=1:3
Ta c :
Vn tc gc khu 1:
17

0 0 0
0
1 0 0 0 . q1 1 0

0 0 0
0
2.25
Vn tc gc khu 2:
0 0 0
0

2 0 0 0 . q2 2 0

0 0 0
0
2.26
Vn tc gc khu 3:
T
3 R3 .R3 q3
0
q3
0
0
0
0

0
3 0
q3

(2.27)
2.4 Bi ton ng hc ngc
T bi ton ng hc thun ta c c h phng trnh :
xE 0 A3 1,4 a3cosq3 a1
0
yE A3 2,4 a3 sin q3 q2
z E A3 3,4 q1
(2.31)
Bi ton t ra l : cho bit cc ta [xE yE zE ] v nhim v ca ta l phi tm

li cc bin khp q q1 q2 q3
Vi cc xE , yE, zE ,a1 ,a3 bit.

Gi s ta phi cho qu o ca im tc ng cui E l theo mt ng cnh
hoa trong mt phng thao tc, tc l mt phng Oyz
xE 40 cm
yE 40 30.sin(2t ).cos(t)
z 30 40.sin(2t ).sin(t)
E
cm
2.32
cm
Cnh hoa c dng 4 cnh nh sau:
18
Do thi hinh cnh hoa

70
60
50
zE
40
30
20
10
-10
15
20
25
30
35
40
yE
45
50
55
60
65
Hnh 2.7 th qu o cn v
T phng trnh v tr im E (2.31) th ta c th tm c cc bin khp qi nh
sau :
q1 z E
a32 (a1 xE ) 2
a1 xE
sin q3
cos q3
a
a3
3
q a tan 2(sin q ,cos q )
3
3
3
q a .sin q y a 2 (a x ) 2 y
3
3
E
3
1
E
E
2
2.33
Thay cc gi tr trn vo ta c:
q1 z E 30 40sin(2t )sin(t )
cos q 50 40 1 sin q 8 q 19.5o
3
3
3
30
3
3
q 302 (502 402 ) 40 30sin(2t )cos(t )

2
q2 40 30sin(2t )cos(t)
2.34
Suy ra v c hnh hoa 4 cnh trn th cc ta suy rng phi tha mn

(2.34) v ta c th cc bin khp ca ta suy rng:
19
Do thi cac bien khop q1,q2

80
q1
q2
60
40
q1,q2 [cm]
20
0
-20
-40
-60
-80
5
t [s]
10
Hnh 2.8 th bin khp q1 q2

thi bien khop q3
20.5
q3
deg
20
19.5
19
18.5
5
t [s]
10
Hnh 2.9 th bin khp q3
20
CHNG 3
TNH HC ROBOT
3.1 Phn tch lc
Lc mi trng tc ng vo khu cui ch gm phn lc tc dng ln u

dng c ct v c gi tr rt nh coi nh l bng 0, nh vy:
0 F3 E Fx Fy Fz T
0
T
M 3 E Mx My Mz
0 F43 0 F3 E Fx Fy Fz T 0 0 0T
T
T
0
0
M 43 M 3 E Mx My Mz 0 0 0
Tnh lc (m men ) dn ng ti cc khp m bo Robot cn bng tnh. H
phng trnh cn bng trong ta c s:
0
0
0
Fi,i-1 = Fi+1,i - Pi
0
0
0
0 0
0
M
=
M
r
F
r
Pi
i
c
i
i+1,i
i,i-1
i,i-1
Vi :
0
Fi ,i1 Fx
Fy
Fz
l lc do khu i-1 tc dng ln khu i khp th I
trong h ta c bn.
Mi,i-1 = Mx My Mz T l m men do khu i-1 tc dng ln khu i khp
th i trong h ta c bn.
0
Pi Px
Py
Pz
l trng lc ca khu i trong h ta c bn.
ri = 0Ri iri l vector c gc l O0 ni vi Oi trong h ta c bn.

0
Ri = 0R11R2i-1Ri l ma trn quay bin i t h ta 0 n h ta th i
ai
ri = d isini l vector c gc Oi-1 ni vi Oi trong h ta khu i.
d i cosi
rci = 0Ai irci l vector c gc O0 ni vi Ci trong h ta c bn .

i
rci : l vector c gc Oi ni vi Ci trong h ta khu i
3.1.1 Tnh lc v momen khu 3
Ta c ma trn csin ch hng :
21

c3
R3 s3
s3
c3
0
m3 g
P3 0 ;
0
0
a3
r33 0
Ta c
a3c3
0
r3 R3r33 a3 s3
0
a3
2
rC33 0
0
0
0 r 0
3
a3 s3
0
0
a3c3
a3 s3
a3c3
a3c3
2
0
a3 s3
0
3
rC 3 R3rC 3
0 r 0
C3
2
0
as
3 3
0
0
a3c3
2
a3 s3
2
a3c3
m3 g Fx
F3,2 FE ,3 P3 Fy
Fz
a
s
Fz
Mx
3 3
~
~
M 3,2 M E ,3 0 r3 F3,2 0 rC 3 P3
a3c3 Fz My
a3 s3m3 g
Mz
a3 s3 (m3 g Fx) a3c3 Fy

1 0 0
R2 0 1 0
0 0 1
m2 g
P2 0
0
r22 q2
Ta c
0
0
0
2
r2 R2 r2 q2 0 r 0

2
0
q2
0 q2
0 0
0 0
0
0
1
1
2
0
2
rC 2 a2 ; rC 2 R2 rC 2 a2
2
2
0
0
22
r C2 0
1
a2
2
~
1
a2
2
0
0
0
m2 g m3 g Fx
F2,1 F3,2 P2
Fy
Fz
M 2,1 M 32 r2 F21 rC 2 P2
0
a3s3 Fz q 2 Fz M x
M 2,1
a3c3 Fz M y
a3s3m3 g
amg
q2 (m2 g m3 g Fx ) 2 2 M z
a3s3 (m3 g Fx ) a3c3 Fy
2
2

1 0 0
R1 0 0 1 ;
0 1 0
m1 g
P1 0
a1
r11 0

q1
Ta c
0 q1 0
0 r q1 0 a1
1
0 a1 0
1
2 a1
rC11 0
q1
(m1 m2 m3 ) g Fx
F1,0 F2,1 P1
Fy
Fz
~
M1,0 M 21 0 r1 F10 0 rC1 P1
a3 s3 Fz q1Fy q2 Fz Mx
M 1,0
a3c3 Fz q1 (m1 g m2 g m3 g Fx ) a1Fz q1m1g My
a3 s3m3 g
amg
q2 (m2 g m3 g Fx ) 2 2 a1Fy Mz
a3 s3 (m3 g Fx) a3c3 Fy
2
2
23
3.2 Tnh ton lc v momen ln nht trng thi tnh
Cho cc tham s: m1=267.5, m2=19.2 , m3=40 (kg) a0=1.1 (chiu di khu )

a1 0.87 a2 1 (chiu di t nhin khu 2) a3 0.6 m
Vi m hnh xy dng trn solid works, ta c cc tham s:
khu 3:
0.6c3
0.21c3
0
r3 0 R3r33 0.6s3 ,0 rC 3 0.21s3
0
0.03
0
400
F3,2 0 , M 3,2 12 ,
156 s3
0
-1 sin(q3) 1,do lc v momen ln nht khu 3 l :
4.4
0
F3,2 0 , M 3,2 12 , M 3,2 max 156.5( Nm)

0
156
khu 2:
0
0
0
r2 q2 ,0 rC 2 0.32

0
0
592
F2,1 0 , M 2,1
12
156s3 592q2 61.44

0
-1 sin(q3) 1, q2 0.8 a2,do lc v momen ln nht khu 2 l :
592
0
F2,1 0 , M 2,1 12 , M 2,1max 688( Nm)
0
687.5
0.87
0.36
0
r1 0 ,0 rC1 0
khu 1:
q1
0
0
3267
F1,0 0 , M 1,1
12 3267q1
156s3 592q2 61.44

0
-1 sin(q3) 1 ; q2 0,8.a2 ; q1 0.8. a0 (chiu di khu )
do lc v momen ln nht khu 1 l :
24

3267
F1,0 0 ,
M 1,0
0
2863 M 1,0 max 2900( N .m)
498
CHNG 4
NG LC HC ROBOT
Chng ta bit phng trnh lagrang loi 2 vit tng ta suy rng nh sau:
d T T
Q np
dt qi qi
qi
trnh di dng ta khng i chng mnh dng ma trn ca phng trnh
Lagrang p dng lun ( c th tham kho cch chng minh trong quyn Robot
cng nghip ca GS. TSKH. Nguyn Vn Khang )
M (q)q C (q, q )q G (q ) Q np
T (4.1) vit li dng iu khin nh sau :
M (q )q C (q, q ) q G (q ) U J ET F
4.1 Xy dng cu trc ng lc hc
Hnh 4.1. S tnh hc
25

4.1.1 Xc nh th nng ca robot
Chn gc tnh th nng ti mt t ta c :

3
mi X Ci g
i 1
0
q1
2 m2 X C 2 g m2 g 0.87 g 2
0
q2
1 m1 X C1g m1g 0.51 g1
3 m3 X C 3 g m3 g 0.87 0.39C3 g 3
m3 g 0.39S3
q3
0.51m1 g 0.87m2 g m3 g (0.39C3 0.87)

0
G q
0
0.39m3 gS3
4.1.2 Xc nh cc Ma trn Jacobi tnh tin v Jacobi quay
rci l khong cch t gc ta Oi n khi tm i ca tng khu .

JTi l ma trn Jacobi tnh tin ca khu i:
JTi
Ci
1
0
0
0 1
rc1 A1 rc1
0
0 0 0.87 0.36 0.51

0 0 0
0.51
0 1 0 0 0 0
JT 1 0 0 0
rc1 0
1 0 q1 0 q1
1
0
0

1
0 0
1 1 1
1
0
0
0 2
rc 2 A2 rc 2
0
0 0 0.87 0 0.87
0.87
1 0 q2 0.68 0.68 q2 0
rc 2 0.68 q2
0 1 q1 0 q1
q1

0 0 1 1 1
0 0 0
JT 2 0 1 0
1 0 0
26
S1 (a3S3 2q2 )
2
C3 S3 0 0.6C3 0.87) 0.21
0.87 0.39C 3
S C S 0.6S q 0 C1 (a3S3 2q2 )
3
1
3
2)
0
0 rc3 0.39S3 q2
rc3 0 A3 3rc3 3
2
0
0.03
0 1
q1
a
C
d 3 3
q1 0.03
1
0
0
0
1
1
0 S1 0.39S3
JT 3 0 1 0.39C3
a3S3
1 0
JRi l ma trn Jacobi quay ca khu i:
( i )
'
J Ri
0 0 0
J R1 0 0 0
0 0 0
0
0
3' 0 R3T 0 R3 = q3
0
1 0 0
0
'
R R 0 0 1 1 0
0 1 0
0
0 0 0
0
2' 0 R2T 0 R2 0 0 0 2' 0
0 0 0
0
'
1
q3
0
0
T 0
1
1
0
0
0 3' 0

q3
0
0 0
0 0
0 0
0 0 0
J R 2 0 0 0
0 0 0
0
0 0 0
J R 3 0 0 0
0 0 1
0
4.2 Xc nh ng nng ca Robot
Ma trn ten x qun tnh ca hai khu 1, 2 v 3 vi trc gn vo khi tm

song song vi h trc ca khu cng tng ng l h qun tnh chnh trung tm
c dng :
Ci '
J xx 0 0
0 J yy 0
0 0 J
zz
Vi J xx ( y 2 z 2 ) dm; J yy ( z 2 x 2 ) dm; J zz ( x2 y 2 ) dm
B
27
J1xx 0 0 34
0
0

'
C1 0 J1 yy 0 0 34.27 0
0 0 J 0
0
2.5
1 zz
0
0 2.23 0
0
J 2 xx
C 2 ' 0
J 2 yy
0 0
0.11 0 ,
0
0
J 2 zz 0
0
2.19
J 3 xx 0 0 0.34 0 0.75
C 3' 0 J 3 yy 0 0
4.6
0
0 0 J 0.75 0 4.36
3 zz
Biu thc ng nng, ma trn khi lng M(q):

1 T 3 T
1
T q ( J Ti mi J Ti J RiT 'i J Ri ) q qT M q q
2 i 1
2
m11 m12 m13

3
M (q ) ( J TiT mi J Ti J RiT 'i J Ri ) m21 m22 m23
i 1
m31 m32 m33
Vi cc thnh phn nh sau :
m11 m1 m2 m3
m12 m21 m13 m31 0
m22 m2 m3
m23 m32 0.39m3C3
m33 4.36 0.1521m3
4.3 Xc nh cc ma trn Clioris
3
c1
C (q, q ) [c j (q, q )]3 x1 c2

c3
c j k , l , j qk ql ;
k 1
k ,l, j
1 mkj mlj mkl
2 ql qk q j
c1 1,1,1 q1q1 1,2,1 q1q2 1,3,1 q1q3 2,1,1 q2q1 2,2,1 q2q2 2,3,1 q2q3
3,1,1 q3q1 3,2,1 q3q2 3,3,1 q3q3
1,1,1
1 m11 m11 m11

1 m11

0
2 q1
q1 q1
2 q1
28
1,2,1
1 m11 m21 m12 1 m11
2 q2
q1
q1 2 q2
1,3,1
1 m11 m31 m13 1 m11
2 q3
q1 q1 2 q3
2,1,1
1 m21 m11 m21 1 m11
2 q1
q2 q1 2 q2
2,2,1
1 m21 m21 m22
2 q2
q2
q1
2,3,1
1 m21 m31 m23
2 q3
q2
q1
3,1,1
1 m31 m11 m31

1 m11
2 q1
q3 q1
2 q3
3,2,1
1 m31 m21 m32
2 q2
q3
q1
3,3,1
1 m31 m31 m33
2 q3
q3
q1
c1 0
c2 1,1,2 q1q1 1,2,2 q1q2 1,3,2 q1q3 2,1,2 q2q1 2,2,2 q2q2 2,3,2 q2q3
3,1,2 q3q1 3,2,2 q3q2 3,3,2 q3q3
Lm tng t ta cng c c2=0

c3 1,1,3 q1q1 1,2,3 q1q2 1,3,3 q1q3 2,1,3 q2q1 2,2,3 q2q2 2,3,3 q2q3
3,1,3 q3q1 3,2,3 q3q2 3,3,3 q3q3
1,1,3
1 m13 m13 m11

1 m11
0
2 q1
q1 q3
2 q3
1,2,3
1 m13 m23 m12
2 q2
q1 q3
1,3,3
1 m13 m33 m13 m33
2 q3
q1 q3 q1
2,1,3
1 m23 m13 m21
2 q1
q2 q3
2,2,3
1 m23 m23 m22 1 m22
2 q2
q2
q3 2 q3
29
2,3,3
1 m23 m33 m23 1 m33
2 q3
q2 q3 2 q2
3,1,3
1 m33 m13 m31 1 m33
2 q1
q3 q3 2 q1
3,2,3
m23
1 m33 m23 m32
0.2m3S3
2 q2
q3 q3
q
3
3,3,3
1 m33 m33 m33 1 m33
2 q3
q3 q3 2 q3
c3 0.39m3 S3q3q2
0
c1
C c2
0

c3 0.2S3m3q3q2
4.4 Xc nh lc suy rng
Lc suy rng gm lc ma st kh,ma st nht,lc hot ng khng th c

dng nh sau:
Q Bq D si gnq F
r
r
Q3 F T ip ip M i Fx Fy Fz E 3
qi
q3
a
a3 S3
Fx Fy Fz a3C3
0
Fya3C3 Fxa3 S3
Do Robot ch thc hin thao tc vit ch nn coi lc v moment rt nh.

Theo bi,b qua lc ma st,Moment t ln khu cui=0 :
0
r
0
Q F T ip ip M i
0

qi
Fya3C3 Fxa3 S3
4.5 Phng trnh vi phn chuyn ng ca robot
T ta c h phng trnh phn ca robot:
30
0
0
0
0
m1 m2 m3
q1
q1
0
m2 m3
0,2m3 C3 q2
0
0
0
0,2m3 C3 1,82 0,04m3 q3 0,2m3 S3q3q2 q3 0,2m3 gS3
0
U1
U2
0

U 3 Fya3C3 Fxa3S3
31
CHNG 5
TNH CHN THIT B DN NG ROBOT
Phn A B TRUYN VITME AI C BI
Khu 1, 2 chuyn ng tnh tin, t chnh xc cao ta chn b truyn

vitme ai c cho h dn ng.
Hnh 5 1 B truyn vitme bi

5.1 Cc thng s u vo
Vt liu: thp AISI-A2 .

Tiu chun: JIS
Vn tc khc: V = 1 m/ph.
Chiu su khc ch : t = 0.8 mm.
Chiu di lm vic: khu 1 S1= 660 mm

khu 2 S2 = 600 mm.
Vn tc chy ln nht : V = 1 m/ph.
Gia tc hot ng ln nht ca h thng: a = 0.2g =3.92 m/s2.
Thi gian hot ng: 2 n 3 nm
thit k vi Lt = 17520h (2nm x 365ngy x 24gi)
H s ma st trt b mt: = 0.1.
Tc vng ng c: Nmax = 750vg/ph.
chnh xc v tr(khng ti): 0.03/1000mm.
32

Chn trc vt- bi cho 2 khp tnh tin
Chn kiu lp t : (fixed-supported)

- 1 u lp cht -1 u ty chnh : fixed- supported
Hnh 5 2 Kt cu
Suy ra N=2; m=10,2 trong N, m : hai h s ph thuc kiu lp t.

Bc vitme l
Khi khu 1 chy vi vn tc v1=1 (m/pht)

l1
V 1000
=1.3(mm) => chn bc vt me l1=5(mm)
n 750
Khi khu 2 chy vi vn tc v1=1 (m/pht)

l2
V 1000
=1.3(mm) => chn bc vt me l2=l1=5 (mm)
n 750
Tm lc ct chnh ca Robot khi gia cng
Trng hp h vt me nm theo phng ngang

Robot lm nhim v khc ch nn ta coi lc ct chnh l: Fm =0
iu kin lm vic v cc thng s s c tnh chn
iu kin lm vic:
Lc chng trt:
+ khp 1 :
Fa1= (m1 +m2 +m3)g = 235 N
+ khp 2 :
Fa2 = (m2 + m3)g = 55N
Cc thng s s c tnh chn:
Loi trc vt, bi.
Cp chnh xc.
33
Moment ng c.
5.2 Chn trc vt
5.2.1 Tnh ton lc dc trc
Cc thnh phn trong cc cng thc:

Lc ct chnh: Fm = 0 kgf
Lc ct theo phng z (thng ng): Fmz = 0.
H s ma st: = 0.1.
Khi lng tng cng:
t ln khu 1:my = m1 + m2 +m3= 180 + 20 + 35 =235 kg
t ln khu 2: mx =m2 + m3 = 20 + 35 = 55 kg.
Lc chng trt khng ti: khu 1: f1 = Fa1 = 235N.
khu 2: f2 = Fa2 = 55N.
Gia tc trng trng: g = 9.8 m/s2.
Gia tc hot ng ln nht ca h thng: a = 0.2g = 1.96 m/s2.
Theo khp 1,khi chy vi V=1m/ph=16mm/s:
Tng tc (v bn tri): Fa1 = (myg+F10 )+ mya + fy
= 0.1(2359.8+1450) + 2351.96 + 235
= 1071 N
Chy u (v bn tri): Fa2 = (myg+F10 )+fy
= 0.1(2359.8+1450)+ 235
= 610 N
Gia cng (v bn tri): Fa3 = Fm + (myg + Fmz+F10)+ fy
= 0 + 0.1(2359.8 +0+1450) + 235
= 610 N
Gim tc (v bn tri): Fa4 = (myg+F10) - mya + fy
= 0.1(2359.8+1450) 2351.96 + 235
= 149.7 N
+ Lc dc trc ln nht:
T cc lc dc trc tnh trn ta thy lc dc trc max l:
F1y= max( Fa1, Fa2, Fa3, Fa4 ) = 1071 N=110 kgf.
Theo khp 2,khi chy vi V=16mm/s:
Tng tc (v bn tri): Fa1 = (mxg+F21 )+ mxa + fx
= 0.1(559.8+340) + 551.96 + 55
= 250 N
Chy u (v bn tri): Fa2 = (mxg+F21 )+ fx
34
= 0.1(559.8+340) + 55
= 144 N
Gia cng (v bn tri): Fa3 = Fm + (mxg + Fmz+F21 )+ fx
= 0 + 0.1(559.8 +0+340) + 55
= 143 N
Gim tc (v bn tri): Fa4 = (mxg+F21 )- mxa +fx
= 0.1(559.8+340) 551,96 + 55
= 35,1 N
+ Lc dc trc ln nht:
T cc lc dc trc tnh trn ta thy lc dc trc max l:
F1x= max( Fa1, Fa2, Fa3, Fa4 ) =250 N= 26 kgf.
5.5.2 Tnh ton ti trng ng Ca
Nh tnh ton mc 5.2 ta chn c bc vt-me l l = 5 mm.

Ti trng ng:
a) Khu 1
Ca =
Fma
fm
10-2
= (60 750 17520)1/3 110 1.2 10-2

= 1219 kgf.
Suy ra Ca1 = 1219 kgf
b) Khu 2
Ca =
Fma
fm
10-2
= (60 750 17520)1/3 26 1.2 10-2

= 288 kgf.
Suy ra Ca2 = 288 kgf
5.2.3 Chiu di trc vt-me
a) khu 1
Chiu di trc vt-me:

L1 = tng chiu di dch chuyn + chiu di bi + chiu di vng thot = 660
(mm)
b) khu 2
Chiu di trc vt-me:

L2 = tng chiu di dch chuyn + chiu di bi + chiu di vng thot
35
= 600 (mm)
5.2.4. Chn ng knh trc vt
a) khu 1
Kiu bi l c nh di ng f = 15,1
Tc quay vng ca ng c 750 rpm
L1 = 660 ( tnh trn).
Bn knh ren trc vt:
60 2
n
2 L2
EIg
dr
f 2 107
A
L
n L2
dr
107
f
2
750.660
.107 2, 2 mm
15,1
b) khu 2
L2 =600 mm.
( tnh trn)
Kiu bi l c nh di ng f = 15,1
Tc quay vng ca ng c 750 rpm
Bn knh ren trc vt:
60 2
n
2 L2
EIg
dr
f 2 107
A
L
n L2
dr
107
f
2
750.600
.107 1,8 mm
15,1
Chn kiu bi
Nu cng cn c u tin nhiu nht, hao ph chuyn ng khng

qu quan trng, theo cc thng s k thut s c chn l:
bi loi lu chuyn bi bn ngoi.
Kiu: FDWC.
S dng lu chuyn bi: Bx2.
36
5.2.5 Chn series
T cng yu cu v cc yu t:ti trng,ng knh,chiu di,kch c

bi, ta chn c series trong catalog ca hng PMI ph hp cho c khu 1 v
khu 2 nh sau:
Loi trc vt me : 16-5B2- FSWC
ng knh trc vt: 16 mm
ng knh li ren : 12 mm
Bc vt me :
5 mm
[C0]=2540 (kgf)
[Ca]= 1250 (kgf)
5.3 Tnh chn bi
Da vo cc thng s v ti trng ng, ng knh trc vt, ta chn c bi ca

hng SKF:
Hnh 5 3 Catalog bi
37

Chn:
Thng s
d(mm)
D(mm)
B(mm)
C(kN)
C0(kN)
Gi tr
16
47
14
15,9
8,3
5.4 Tnh ton kim nghim

5.4.1 kim nghim trc vt
a) Khu 1
+ Tui th lm vic:
) 106
Lt =(
1
1250
106
=
60 750
110 1, 2
18871h > 17520 h
+ Kh nng ti ng :
Ca1 =1219 (kgf) < [ Ca]=980 (kgf)
+ Tc quay cho php:

n1 = f 107 = 15,1
12
107 = 5033 vg/ph >750 vg/ph.
6002
+ Tnh ton ng sut tc dng ln trc vt trc ti khp 1

= =
110 9,8 4
= 9,5 N/mm2 = 9,5106 N/m2
2
12
Tmax = T1 = 14 kgf.cm = 137 N.mm

Jx =
=
=
124
32
= 2035,7 mm4
137 8
= 0,5 N/mm2 = 0,5106 N/m2
2035, 7
= 9,52 0,52 =9,5 106 N/m2
+Tnh ti trng ti hn ca trc vt trc khp 2:

38

P1 =
103 = 15,1
12 4
103
2
660
=719 kgf > Fmax(110 kgf)

T qu trnh kim nghim, ta thy: trc vt-me khp 1 m bo an ton.
b) Khu 2
+ Tui th lm vic:
) 106
Lt =(
1
1250
=
106
60 750
26 1, 2
=1429070 h > 17520 h

+ Kh nng ti ng :
Ca2 =288 (kgf) < [ Ca]=1250 (kgf)
+ Tc quay cho php:

n2 = f 107 = 15,1
12
107 = 5033 vg/ph > 750 vg/ph.
2
600
+ Tnh ton ng sut tc dng ln trc vt trc ti khp 1

= =
26 9,8 4
= 2,2 N/mm2 = 2,2106 N/m2
2
12
Tmax = T2 = 3 kgf.cm = 30 N.mm

Jx =
124
32
= 2035,7 mm4
30 10
= 0,11 N/mm2 = 0,11106 N/m2
2035, 7
= 2, 22 0,112 =2,2 106 N/m2
+Tnh ti trng ti hn ca trc vt trc khp 2:

P2 =
12 4
10 = 15,1
103
2
600
3
=869,8 kgf > Fmax(26 kgf)

T qu trnh kim nghim,ta thy: trc vt-me khp 2 m bo an ton.
39
Hnh 5 4M hnh vitme-

5.4.2 Kim nghim ln
a. Kim nghim kh nng ti ng ca
Fs1
Fs0
Fa
Hnh 5 5 S lc dc trc
Kh nng ti ng ca kim nghim theo cng thc: Cd Qm L

Trong :
Q - ti trng quy c
L - tui th tnh bng triu vng quay
m -l bc ca ng cong mi khi th v ln, m=3 vi bi
Tnh L:
Gi Lh l tui th ca tnh bng gi: chn Lh 20000
n=750(vg/ph) l s vng quay ca trc vt
40

Vy L
60.n1.Lh 60.750.20000
900 ( triu vng quay)

106
106
Xc nh ti trng ng quy c Q
Q ( X .V .Fr Y .Fa ) Kt .K d
Trong
Fr , Fa l ti trng hng tm v ti trng dc trc
V l h s k n vng no quay, y vng trong quay V=1

K t l h s k n nh hng ca nhit K t 1(t o 100o )
K d l h s k n c tnh ti trng. Tra 11.3 1 , vi va p nh: K d 1

215
X ,Y l h s ti trng hng tm v dc trc

Lc hng tm: v khi lng khu tnh tin c ch yu bi rnh mang c,
khi lng trc vt nh nn coi nh bi chu lc hng tm gn bng 0
Fr 0 Fr1 0
Lc dc trc do lc hng tm sinh ra trn cc :
Fs 0 e.Fr 0 0
Fs1 e.Fr1 0
Vy hu nh ch c lc dc trc tc ng ln
=>Ti trng quy c trn khu 1 v 2 l:
Q1 YFa 0 kt kd 1.1071.1.1 1071( N )
Q2 YFa1kt kd 1.250.1.1 250( N )
Ta ch cn kim nghim ln chu lc ln hn, c ti trng ng quy c

Q Q0 1071( N )
Vy => Cd Q m L 1071.103. 3 900 10,34 C 15,9(kN )

Vy ln chn tha mn kh nng ti ng.
b. Kim tra kh nng ti tnh ca
Nhm trnh hin tng bin dng d ta tin hnh chn theo kh nng ti tnh.
Kim nghim kh nng ti tnh theo cng thc: Qt C0
Tra
11.6
1 vi bi -chn 1 dy, 12o Xo=0,5; Yo=0,47
221
41
Qt1 X 0 Fr 0 Y0 Fa 0 0,5.0 0, 47.1071 503,37( N ) 0,50(kN ) C0 8,3(kN )
Vy ln chn tha mn kh nng ti tnh.
5.5 Chn ng c
5.5.1 Momen pht ng
Thi gian dnh cho qu trnh c gia tc l rt ngn, do y ta ch tnh

ton cho giai on chy u (chim phn ln thi gian gia cng)
a) Khu 1
Momen tnh t trc:

+M10= 0,3
Tp = k
36, 7 0, 66
1,15 kgf.cm
2
Trong : k = 0.3, Fa0= Fmax / 3 = 110/ 3 =36,7 kgf

Momen do lc ma st:
Tc =
110 0, 66
12,8 kgf.cm
2 0.9
Do , momen pht ng cn thit bng tng momen t trc v momen

cn thit:
T1 = Tp + Tc = 1,15 + 12,8 = 14 kgf.cm=137 Nm
Tnh momen ma st:
Mfric =
m g h cos
2 i
235 9,8 0,1 0, 005 cos 0

= 0,2 N.m
2 1 0,9
Tnh momen chng trng lc ca kt cu:

Mwz =
=0
V c cu t nm ngang nn = 00
Tnh vn tc di:
Vi ng knh trc vt c chn l 16 mm, ta c:
=
Dn
60 1000
16 750
60 1000
0,7 m/s
Tnh momen ca khu 1:

Mmach =
0, 005 0
0 N.m
2 1 0,9 3, 2
42
Tnh momen tnh:

Mstat = Mfric + Mwz + Mmach
= 0,2 + 0 + 0
= 0,2 N.m
Tnh tc quay ca motor:
nnoml =
0, 7
=140 vg/ph
0, 005
b) Khu 2
Momen tnh t trc:

= 0,3
Tp = k
8, 7 0, 6
0,3 kgf.cm
2
Trong : k = 0.3, Fa0= Fmax / 3=26 kgf.cm

Momen do lc ma st:
Tc=
26 0, 6
2, 7 kgf.cm
2 0,9
Do , momen pht ng cn thit bng tng momen t trc v momen

cn thit:
T2 = Tp + Tc = 0,3+2,7 = 3 kgf.cm
Tnh momen ma st:
Mfric =
m g h cos
2 i
55 9,8 0,1 0, 006 cos 0

= 0,058 N.m
2 1 0,9
Tnh momen chng trng lc ca kt cu:

Mwz =
=0
V khu 2 t nm ngang nn = 00
Tnh vn tc di:
Vi ng knh trc vt c chn l 16 mm, ta c:
=
Dn
60 1000
16 750
60 1000
0,7 m/s
Tnh momen ca khu 2:

Mmach =
43
0, 006 0
0 N.m
2 1 0,9 3, 2
Tnh momen tnh:

Mstat = Mfric + Mwz + Mmach
= 0,058 + 0 + 0
= 0,058 N.m
5.5.2 Chn ng c
Da vo momen tnh ca ng c v tc ca motor, theo catalog ca

hng ANILAM ta chn loi ng c servo AM 820B c cng sut ti a l
0,8KW v tc quay ln nht l 3000 vg/ph.
Hnh 5 6 Catalog ng c
M
60 Pmax 7640
( Nm)
2 n
n
Vi khu tnh tin 1

M1 137, 2
7640
n1 56(rpm)
n
Vi khu tnh tin 2
44

M 2 3, 058
7640
n2 2500(rpm)
n
PHN B B TRUYN BNH RNG CHO KHU 3
V cng sut khng ln v tc quay khng cao, ta chn b truyn bnh rng
tr rng thng dn ng cho khp quay khu 3 ca robot
5.1 Thng s u vo
T kt qu tnh ton tnh hc robot ta c:

Khu 3 c momen quay l M x M y M z 0 0 70sin q3
Ta c trc ng c c gn cng phng vi trc Z3 nn trc ng c ch chu
momen M z 70sin q3 .
V 1 sin q3 1 nn M z max 70( Nm)
Cho tc quay ca khp 3 l n3 20(vg / ph)
5.2 Tnh ton ng hc
Cng sut cn thit u ra trn hp gim tc :

Pra
M 3n3 70.20
1, 4(kW )
1000 1000
Chn :
Hiu sut b truyn bnh rng tr br =0,96 (c che kn)
Hiu sut b truyn ln
ol =0,99 (c che kn)
Hiu sut khp ni
kn =1
Ta c 1 cp bnh rng n khp, 2 ln, 1 khp ni nn hiu sut chung ca

b truyn l: br .2ol .kn 0,94
=>Cng sut cn thit ca ng c:
Pct
Pr a
1, 4
1, 49 kW
0,94
Tc quay ca khp : n3 20(vg / ph)

Chn s b t s truyn u 8
Tc quay s b ca ng c: ndc n3 .u 160(vg / ph)
45
Theo Catalog ca hng ANILAM ta chn ng c servo loi AM 1150A c cng

sut l 1,7kW v tc quay cc i l 3000rpm
Hnh 5 7 Catalog ng c
Cng sut trn cc trc
Cng sut trn trc cng tc
Pra 1,4 kW
Cng sut trn trc II
PII
Pr a 1, 4
1, 41(kW )
ol 0,99
Cng sut trn trc I
PI
PII
1, 41
1, 48(kW )
br .ol 0,96.0,99
Tc quay trn cc trc
46

Tc quay trn trc ng c
ndc 160 vg / ph
Tc quay trn trc I
nI ndc 160 vg / ph
Tc quay trn trc II
nII
nI 160
20 vg / ph
u1
8
M men trn cc trc

1, 7
101468 Nm
160
Trn trc ng c
Tdc 9,55.106
Trn trc I
TI 9,55.106
1, 48
88338 Nm
160
Trn trc II
TII 9,55.106
1, 41
673275 Nm
20
Trn trc cng tc
Tct 9,55.106
1, 4
668500 Nm
20
Bng tng kt phn chn ng hc
ng c
T s truyn
Trc I
ukn = 1
Cng sut (KW)
1,7
S vng quay (v/ph)
160
Momen xon (Nmm)
101468
1,48
Trc II
ubr = 8
Cng tc
uct = 1
1,41
1,4
160
20
20
88338
673275
668500
5.3 Thit k b truyn

5.3.1 Chn vt liu
V hp gim tc chu cng sut trung bnh nn ta ch cn chn vt liu nhm I

(HB350). tng kh nng chy mn ta nn chn vt liu bnh nh c rn
ln hn bnh ln t 10-15HB: H1H2+(1015)HB.
Tra
9.1
1
92
Thng s
chn:
Bnh nh
Bnh ln
( Bnh ch ng )
( Bnh b ng )
47
Nhn hiu
Thp 45
Thp 45
Ch nhit luyn
Ti ci thin
Ti ci thin
rn
rn: HB1 250
rn: HB2 240
Gii hn bn
b1 850
b 2 750
Gii hn chy
ch1 580
ch 2 450
5.3.2 Xc nh ng xut cho php
Ta xt bn tip xc ca mt rng lm vic v bn un chn rng thng qua

ng sut.
ng sut cho php c xc inh theo cng thc:
H0 lim
H S Z R .Z v .K xH .K HL
0
F lim Y .Y .K .K .K
F
R S
xF
FL
FC
SF
Trong :
H - ng sut tip xc cho php

Z R - H s xt n nh hng ca nhm b mt rng
Z v - H s xt n nh hng ca vn tc vng, Zv 0,85v0,1 (vi HB 350)

K xH - H s xt n nh hng ca kch thc bnh rng
K HL - H s tui th
F - ng sut un cho php

YR - H s xt n nh hng ca nhm mt ln chn rng
Ys - H s xt n nh hng ca nhy vt liu vi tp trung ng sut

K xF - H s xt n nh hng ca kch thc bnh rng
K FL - H s tui th
48
K FC - H s xt n nh hng t ti
a.Chn s b
Z R .Z v .K xH 1
YR .YS .K xF 1
b. S H , S F h s an ton khi tnh v ng sut tip xc v ng sut un

Tra
6.2
1
94
ta c:
Bnh rng ch ng: S H 1 1,1; S F 1 1,75
Bnh rng b ng: S H 2 1,1; S F 2 1,75
c. H0 lim , F0 lim ng sut tip xc v un cho php ng vi s chu k c s:

H0 lim 2 HB 70
0
F lim 1,8 HB
0
H lim1 2 HB1 70 2.250 70 570
Bnh ch ng 0
F lim1 1,8HB1 1,8.250 450
H0 lim 2 2 HB2 70 2.240 70 550

Bnh b ng 0
F lim 2 1,8 HB2 1,8.240 432
d. K HL , K FL h s tui th xt n nh hng ca thi gian phc v v ch ti

trng ca b truyn:
K HL mH
K mF
FL
NH 0
N HE
NF 0
N FE
Trong
mH , mF - l bc ca ng cong mi khi th v ng sut tip xc. Do bnh
rng c HB<350 => mH 6 v mF 6
N H 0 , N F 0 - s chu k thay i ng sut khi th v ng sut tip xc v ng
sut un:
2,4
N H 0 30.H HB
1
i vi tt c cc loi thp th N F 0 4.106
6
N F 0 4.10
49
2,4
2,4
N H 01 30.H HB
17, 07.106
1 30.250
2,4
2,4
N H 02 30.H HB
15, 47.106
2 30.240
6
N F 01 N F 02 4.10
N HE , N FE - s chu k thay i ng sut tng ng:
Do b truyn chu ti trng tnh => NHE NFE 60.c.n.t

Vi :
c s ln n khp trong mt vng quay: c 1
n vn tc vng ca bnh rng: n 160(vg / ph)
t tng s gi lm vic ca bnh rng:
6 nm x 365 ngy x 8h = 17520(h), t Lh 17520 h
Vy:
N HE1 N FE1 60.c.n1.Lh 60.1.160.17520 168,19.10 6
n1
160
6
N HE 2 N FE 2 60.c.n2 .Lh 60.c. u .Lh 60.1. 8 .20440 21, 02.10
Nhn thy
N HE1 N H 01 K HL1 1
N HE 2 N H 02 K HL 2 1
N FE1 N F 01 K FL1 1
N FE 2 N F 02 K FL 2 1
Vy ta c
5.8.2.1 ng sut tip xc cho php
H0 lim1
570
Z R .Z v .K xH .K HL
.1.1 518( MPa)
H1
SH 1
1,1
0
H lim 2 Z .Z .K .K 550 .1.1 500( MPa)
H2
R
v
xH
HL
SH 1
1,1
V s dng bnh rng thng nn H min( H1, H 2 ) 500 (MPa)

5.8.2.2 ng sut un cho php
Cnh tay robot quay 2 chiu nn ti trng t 2 chiu K FC 0,7 0,8

HB<350 nn chn K FC 0, 7
F0 lim1
450
YR .YS .K xF .K FL1.K FC
.1.1.0, 7 180( MPa)
F 1
SF
1, 75
0
F lim 2 Y .Y .K .K .K 432 .1.1.0, 7 172( MPa)
F2
R S
xF
FL 2
FC
SF
1, 75
50

5.8.2.3 ng sut cho php khi qu ti
Bnh rng ti ci thin nn:
H max 2,8.min ch1 , ch2 2,8.450 1260(Mpa)

V HB350 nn F max 0,8.ch :
F1 max 0,8.ch1 0,8.580 464(Mpa)

F 2 max 0,8.ch2 0,8.450 360(Mpa)
5.4 Tnh ton thit k b truyn bnh rng
Thng s yu cu:
Trn trc ch ng: Cng sut P1 = 1,48 kW
Momen xon TI = 88338 N.mm
Tc trc quay nI =160 (vg/ph)
T s truyn u = 8
5.4.1 Xc nh khong cch trc
Cng thc xc nh s b khong cch trc aw K a (u 1) 3
T1 K H
.u. ba
K a - h s ph thuc vt liu ca cp bnh rng. Tra 6.5 1 vi rng tr rng

96
1
3
thng c K a =15,5 MPa

T1 - momen xon trn trc ch ng: T1 88338 (Nmm).
H - ng sut tip xc cho php: H 500 (MPa).
u - t s truyn:
u8
ba , bd - h s chiu rng vnh rng. Tra 6.6 1 vi b truyn khng i xng
97
HB <350, chn c:
ba 0, 25 v bd 0,53. ba (u 1) 0,53.0, 25.(6,86 1) 1, 2
K H , K F - h s k n s phn b khng u ti trng trn chiu rng vnh
rng khi tnh v ng sut tip xc v un.Tra
6.7
1 vi bd 1, 2 v s b tr
98
K H 1,1
K F 1, 22
l s 5 ta c
Do vy aw K a (u 1) 3
T1 K H
.u. ba
15,5(8 1) 3
88338.1,1
80,80( mm)
500 2.8.0, 25
Chn theo dy 1 tiu chun SEV229-75: aw 80 (mm)

51

5.4.2 Xc nh thng s n khp
M un: m 0,010,02 aw 0,81,6 mm.

6.8
Tra theo dy 1 bng
1 m 1 mm
99
Xc inh s rng:
Z1
2.aw .
2.80
17, 78
m(u 1) 1.(8 1)
Z 2 u1.Z1 8.17, 78 142, 24
=> Chn
Z1 17
Z 2 141
T s truyn thc t: ut
Z 2 141
8, 29
Z1 17
Sai lch t s truyn:

u
ut u
8, 29 8
.100%
.100% 3, 63% 4% (tha mn iu kin)
u
8
Xc nh li khong cch trc chia:

aw*
Z1 Z 2 m (17 141).1 79(mm)

2
Xc nh h s dch chnh:
V aw* aw , ta cn s dng cc bnh rng dch chnh tng khong
cch trc
H s dch tm:
y
aw Z1 Z 2 80 17 141

1
m
2
1
2
H s k y
Tra bng
1000 y
1000.1
6,33
Z1 Z 2 17 141
6.10a
[1] , vi k y 6, 33 ta c k x 0, 293
101
H s gim nh rng: y
k x (Z1 Z 2 ) 0, 293(17 141)
0,05
1000
1000
Tng h s dch chnh: xt y y 1 0, 05 1, 05

H s dch chnh bnh rng ch ng:
x1
Z2 Z1 y 1 1,05 141 17 1 0,13

1
xt
2
Z1 Z 2 2
17 141
52
H s dch chnh bnh rng b ng: x2 xt x1 1, 05 0,13 0,92

Xc nh gc n khp tw :
cos w
Z1 Z 2 mcos 17 1411cos20
2 aw
0,93
2.80
w 21,57
5.5 Kim nghim b truyn bnh rng

5.5.1 Kim nghim bn tip xc
Kim nghim v ng sut tip xc: H Z M Z H Z 2T1K H (ut2 1) H

bwut d w1
Trong :
Z M - h s k n c tnh vt liu ca cc bnh rng n khp:
Tra
1
6.5
1 Z M 47, 5( MPa 3 )
96
Z H - h s k n hnh dng ca b mt tip xc:

ZH
2
2
1, 71
sin 2tw
sin 2.21,570
Z - h s s trng khp ca rng: Z
4
3
1 1
4
1
1
1,88 3, 2 1,88 3, 2
0,88
1, 67 Z
Z
Z
17
141
3
1
2
K H - h s ti trng khi tnh v tip xc: K H K H K H K Hv
Trong :
K H l h s phn b khng u ti trng trn cc i rng khi tnh v ng
sut tip xc c chn thng qua vn tc vng v
ng knh vng ln bnh nh d w1
v
.d w1.n1
60000
2aw 2.80
17,78
u 1 8 1
.17, 78.160
0,15 m / s
60000
Tra
6.13
1
106
Tra
6.14
1 vi cp chnh xc 9 v v 0,15 2,5(m / s) K H 1,13
107
v 0,15 2(m / s ) nn s dng cp chnh xc 9.
K H h s k n s phn b khng u ti trng trn chiu rng vnh rng
khi tnh v ng sut tip xc: K H 1, 07
53
K Hv h s ti trng ng trong vng n khp khi tnh v ng sut tip xc
c tnh theo cng thc K Hv 1
vH bw d w1
2T1 K H K H
Trong :
vH H g0v aw / u
H - h s k n nh hng ca cc sai s n khp. Tra 6.15 1 c

107
H 0,006 vi rng thng.

g 0 - h s k n nh hng ca sai lch cc bc rng bnh 1 v 2. Tra
6.16
1 c g0 73 theo cp chnh xc 9.
107
v-
vn tc vng v 0,15(m / s)
Vy vH H g0v aw / u 0,006.73.0,15. 80 / 8 0, 21
bw - Chiu rng vnh rng:
bw ba aw 0, 25.80 20(mm) Chon b w 20
Thay vo ta c K Hv 1
vH bw d w1
0, 21.20.17, 78
1
1
2T1 K H K H
2.88338.1, 07.1,13
Vy K H K H K H K Hv 1,13.1,07.1 1, 21
Thay vo ta c ng sut tip xc:
H Z M Z H Z
2T1K H (ut 1)
2.88338.1, 21.(8 1)
47,5.1, 71.0,88.
440,84( MPa)
2
bwu d w1
20.8.17, 782
Xc nh chnh xc ng sut tip xc cho php:

Vi v=0,155(m/s)Zv=1; vi cp chnh xc ng hc l 9, chn cp chnh xc
v mc tip xc l 8, khi cn gia cng t nhm Ra=2,51,25m, do
ZR=0,95; vi da < 700mm KxH=1 .Vy ng sut tip xc cho php chnh
xc l:
H cx H .Zv .ZR .ZxH 500.1.0,95.1 475(MPa)

Kim nghim: H 440,84(MPa) H cx 475(MPa)
54
H cx H
475 440,84
.100%
.100% 7, 47% 10%
Lng tha bn l: H
475
cx
tha mn iu kin ng sut tip xc.
5.5.2 Kim nghim bn un
Cng thc kim nghim:

2.T1.K F .Y .Y .YF 1
F 1
F 1
bw1.d w1.m
F 1.YF 2
F2
F 2
YF 1
Trong :
K F - h s ti trng khi tnh v un: K F K F K F K Fv
Vi K F h s phn b khng u ti trng trn cc i rng khi tnh v ng

sut un. Tra
6.14
1
107
vi vn tc v 2,5 m / s v cp chnh xc 9 K F 1,37
K F - h s k n s phn b khng u ti trng trn chiu rng vnh rng khi
tnh v ng sut un, tra bng
6.7
1 vi bd 1, 2 ,s 5 K F 1, 22
98
K Fv h s ti trng ng trong vng n khp khi tnh v ng sut tip xc, un
c tnh theo cng thc K Fv 1
vF bw d w1
2T1 K F K F
vF F g0v aw / u
Tra
6.15
1 vi rng nghing c F 0,011
107
g 0 73 theo cp chnh xc 9
v d w1n1 / 60000 0,15(m / s)
=> vF F g0v aw / u 0,011.73.0,15. 80 / 8 0,38

Chiu rng vnh rng bw=20
K Fv 1
vF bw d w1
0,38.20.17, 78
1
1
2T1 K F K H
2.88338.1, 22.1,37
Vy K F K F K F K Fv 1,37.1, 22.1 1, 67
Y - h s k n s trng khp ca rng: Y
1
0,59
1, 67
Y -h s k n nghing ca rng, v rng thng 0o Y 1
55
YF 1 , YF 2 - h s dng rng ph thuc s rng tng ng, v rng thng nn

Z v1 Z1 17; Z v 2 Z 2 141
Tra
6.18
1 c YF1 2,97; YF2 3,02
109
Thay vo c
2.T1.K F .Y .Y YF 1 2.88338.1, 67.0,59.1.3, 02
147,8( MPa)
F 1
bw .d w1.m
20.17, 78.1
F 1.YF 2 147,84.2,97 145, 4( MPa)

F 2
YF 1
3, 02
Xc nh chnh xc bn un cho php:

Trong tnh ton s b, ta chn YR .YS .K xF 1 , by gi ta xc nh chnh xc ng
sut un cho php thng qua chn li chnh xc cc h s YR , YS , K xF
Chn K xF 1 (v ng knh cc bnh rng d a 400 mm )
YR 1 (bnh rng phay)
Ys 1,08 0,0695.ln( m) 1,08 0,0695.ln(1) 1,08
F 1 cx F 1 YRYS K xF 180.1.1, 08.1 194, 4( Mpa)
F 2 cx F 2 YRYS K xF 172.1.1, 08.1 185,8( Mpa)
Nhn thy:
F 1 147,8 F 1 194, 4( MPa)
F 2 145, 4 F 2 185,8(MPa)
Tha mn bn un.
5.5.3 Kim nghim v qu ti
Cng thc kim nghim:

H max H K qt H
max
F max1 K qt F 1 F 1 max
K qt F 2 F 2 max
F max 2
Tmax
1,15
T
H max H K qt 500. 1,15 536 H 1260(MPa )
max
Do vy F max1 K qt F 1 1,15.180 207 F 1 max 464(MPa)
K qt F 2 1,15.172 198 F 2 max 360( MPa)
F max 2
K qt
Tha mn iu kin v qu ti.

56
5.5.4 Tng kt cc thng s c bn ca b truyn

d m.Z1 1.17 17(mm)
ng knh vng chia: 1
d 2 m.Z 2 1.141 141(mm)
2.a w 2.80
17,78(mm)
d w1
ng knh vng ln:
u 1 8 1
d w 2 u.d w1 142, 24(mm)
d a1 d1 2(1 x1 y )m 17 (1 0,13 0,05).1 18,08(mm)
d a 2 d 2 2(1 x2 y )m 141 (1 0,92 0,05).1 142,87(mm)
ng knh nh rng
d f 1 d1 2,5m 17 2,5.1 14,5(mm)

d f 2 d 2 2,5m 141 2,5.1 138,5(mm)
ng knh chn rng:

Bng tng kt
Khong cch trc
aw 80mm
Modun
m 1
Chiu rng vnh rng
bw 20mm
T s truyn
u 8
S rng bnh rng
Z1 17, Z 2 141
H s dch chnh
x1 0,13 ; x2 0,92
Gc n khp
tw 20o
ng knh vng ln dw
d w1 17,78(mm)
d w 2 142, 24(mm)
ng knh vng chia d
d1 17(mm)
d 2 141(mm)
ng knh nh rng da
d a1 18, 08(mm)
d a 2 142,87(mm)
ng knh chn rng df
d f 1 14,5(mm)
d f 2 138,5(mm)
57
Hnh 5 8 B truyn bnh rng

5.6 Tnh ton thit k khp ni
5.6.1 Tnh chn khp ni
Thng s u vo
Momen cn truyn: T Tdc 101468(Nmm )

ng knh trc ng c, tra Section 7-Available Motor and Accessories ca
ALIAM ta c d dc 15(mm)
58
Hnh 5 9 S khp ni
5.11.1.2 Chn khp ni
Ta s dng khp ni vng n hi ni trc (do ti trung bnh).

Tt Tkn
Ta chn khp ni theo iu kin
dt d kn
Trong :
Tt momen xon tnh ton Tt k .T vi k h s ch lm vic, ph thuc vo loi
my, tra
16.1
2
58
ta ly k=1,2. T momen xon danh ngha trn trc:
T Tdc 101468 ( Nmm)
Vy Tt k .T 1, 2.101468 121761( Nmm) 121,76( Nm)

dt d dc 15(mm) ng knh trc cn ni.
Tra bng
Ta c
16.10a
2 vi iu kin:
68
Tt 121, 76 Tkn
dt 15 d kn
Tkn 125

d kn 25

Z 4
D0 90
59
16.10b
Tra bng
2 vi Tkn 125( Nm) ta c:
69
l1 34
l3 28
d 14
c
5.6.2 Kim nghim khp ni
Ta kim nghim theo 2 iu kin:

5.11.2.1 iu kin sc bn dp ca vng n hi
2kT
d
d vi d ng sut dp cho php ca vng cao su:
ZD0 d cl3
d (2 ~ 4)Mpa
d
2kT
2.1, 2.101468
1, 72( MPa) d (2 4) MPa tha mn iu kin

ZD0 d cl3
4.90.14.28
sc bn dp
5.11.2.2 iu kin sc bn ca cht
k .T .l1
u
u vi u ng sut cho php ca cht: u (60 80)MPa
0,1.d c3 .D0 .Z
k .T .l1
1, 2.101468.34
41,9 u (60 80) MPa tha mn iu kin

3
0,1.d c .D0 .Z
0,1.143.90.4
sc bn ca cht.
5.11.2.3 Lc tc dng ln trc khp ni
Do s khng ng tm khi ni trc nn xut hin ti trng ph:

Fkn 0,1.Ft Fkn (0,1~ 0,3) Ft
Ft
2T 2.101468
2254,84( N )
D0
90
Fkn 0, 2.Ft 0, 2.2254,84 225, 48( N )

5.6.3 Tng kt thng s c bn ca ni trc vng n hi
Thng s
K hiu
Gi tr
Momen xon ln nht c th truyn c
Tkn
125
ng knh ln nht c th ca trc ni
d kn
25
S cht
ng knh vng tm cht
D0
90
60

Chiu di phn t n hi
l3
28
Chiu di on cng xn ca cht
l1
34
ng knh ca cht n hi
dc
14
5.7 Tnh ton thit k trc

5.7.1 Chn vt liu
Chn vt liu ch to trc l thp hp kim 40Cr c ng sut xon cho php l
95(MPa)
5.7.2 Xc nh lc v s t lc
Lc vng Ft1
2T1
2.88338
Ft 2
9937 N
d w1
17, 78
Lc hng tm Fr1
Ft1tg tw
9936, 78.tan 200
Fr 2
3617 N
cos
cos 00
Trc I cn chu lc khp ni: Fkn 225( N )
Fkn
Fx10
Fx11
Fr1
k1=10mm
k2=10mm
k2=10mm
Fy10
Fy11
Ft2
Ft1
Fy20
Fr2
k2=10mm F
x20
P3
l=100mm
Fy21
Fx21
Hnh 5 10 S lc dc trc
Chn khong cch t chi tit quay ngoi hp n ln k1=10 (mm)

Khong cch t bnh rng n ln k2=10(mm)
di trc II lp khu 3 l k3=100(mm)
61
5.7.3 H phng trnh cn bng lc v momen

Trc I
FxI Fkn Fx10 Ft1 Fx11 0
FyI Fy10 Fr1 Fy11 0
M x10 Fr1.k2 Fy11.(k2 k3 ) 0
M y10 Fkn .k1 Ft1.k2 Fx11.(k2 k3 ) 0

Fx10 Ft1 Fkn Fx11 4631( N )
F F F 1808( N )
r1
y11
y10
F .k
Fy11 r1 2 1808( N )
k2 k2
F .k Ft1.k2
5081( N )
Fx11 kn 1
k2 k2
Trc II
FxII Ft 2 Fx 20 Fx 21 0
FyII Fr 2 Fy 20 P3 Fy 21 0
l
M x 20 Fr 2 .k2 P3 Fy 21.l 0
2
M y 20 Ft 2 .k2 Fx 21.l 0
Fx 20 Ft 2 Fx 21 10931( N )
F F P F 22637( N )
r2
3
y 21
y 20
l
Fy 21 P3 Fr 2 .k2 18670( N )
2
F .k
Fx 21 t 2 2 994( N )
l
62

Truc I
5081
3617
4631
225
1808
1808
9937
Mx
18080
My
2250
13k6
13k6
12k6
50810
Hnh 5 11 Biu Moment trc I
63

22637
9937
Truc II
350
3617
994
10931
18670
36170
Mx
154000
340700
99370
94400
89430
45k6
45 H7
k6
45k6
My
Hnh 5 12 Biu Moment trc II
5.7.4 Xc nh ng knh trc
ng knh cc on trc c tnh theo cng thc

64

M tdj
dj 3
0,1
Trong :
- ng sut cho php ch to trc

M j - M men un tng M j M yj2 M xj2
M tdj - M men tng ng M tdj M 2j 0,75M xj2
Vy ta c d
M yj2 M xj2 0, 75.T j2

0,1
ng sut cho php thp ch to trc. Chn thp 40Cr ti c 95(MPa)

Trc I
-V ni vi trc ng c c d dc 15mm nn ng knh trc khp ni chn theo

tiu chun ly ti thiu bng d kn =(0,8...1,2)d dc (12...18) mm
Chn d kn 12mm .
-Ti tit din ch lp 2 ln:
Chn ng b d01 d02 12mm
-Ti tit din ch lp bnh rng 1:
V ng knh chn bnh rng 1 d f 1 14,5mm nn chn ng knh trc tng
ng ch to lin trc, chn theo dy c d1 13mm
Trc II
Ti tit din lp ln pha bn phi momen ln hn bn tri nn ta ch cn tnh

cho 1 ln bn phi:
dol 2
M y2 M x2 0,75T22
0,1
3407002 894302 0,75.6732752

41,54(mm)
0,1.95
Chn theo Catalog ln SKF c d ol 2 45(mm)

Ti tit din chnh gia 2 ln t trng lc khu 3:
65

d2
M x2 M y2 0, 75T22
0,1
1540002 944002 0, 75.6732752

40, 05(mm)
0,1.95
Chon d 2 45(mm)
5.7.5 Tnh mi ghp then
Do cc trc u nm trong hp gim tc nn chn then bng.

b
t2
h
t1
Hnh 5 13 Kt cu then bng
d: ng knh trc lp then

b: chiu rng then
h: chiu cao then
t1: chiu su rnh then trn trc
t2 : chiu su rnh then trn l
Trc II
Theo bng
9.1a
1 vi ng knh ch lp then d= 45 ta c then
173
b 14; h 9; t1 5,5; t2 3,8; 0, 25 r 0, 4
Chiu di then chn theo dy lt1 (0,8...0,9)k3 (0,8...0,9).10 (8...9) chn theo dy
lt1 8
Kim tra bn ca then theo cng thc 9-1 v 9-2 /173[1]

d
2T1
d
dlt (h t1 )
2T1
c
dlt .b
Trong
T - momen xon trn trc
66

d - ng knh trc
lt , b, h, t - cc kch thc then
d - ng sut dp cho php tra bng 178 1 vi iu kin tnh ta c d 150

9.5
c - ng sut ct cho php, thp C45 trong iu kin tnh va ly c 50

d1
2T
2.88338
140, 21 d 100
dlt1 (h t1 ) 45.8.(9 5,5)
c1
2T
2.88338
35, 05 c 50
dlt1.b 45.8.14
Vy then bn
5.7.6 Kim nghim bn trc
a. Kim nghim bn mi
Kt cu trc va thit k m bo bn mi yu cu nu h s an ton ti cc

chi tit nguy him tha mn iu kin sau: s j
s j .s j
s2 j s2 j
Trc I
V ng knh trc c chn ph hp vi ng knh trc ng c nn ta ch

cn kim nghim 1 tit din trc bt k.
Xt tit din lp ti ln nguy him (bn tri):
iu kin bn mi s1 s2 1.s 1 2 s
s 1 s 1
Trong :
s - h s an ton cho php, thng thng s 1,5...2,5

1
K d 1. a1 . m1
s 1 , s 1 - h s an ton ch xt ring ng sut php, tip
1
s
1
K d 1. a1 r . m1
vi 1 v 1 gii hn mi un v xon v xon ng vi chu k i xng,

0, 436. b 0, 436.1200 523
vi thp 40Cr c b 1200 MPa 1
1 0,58. 1 0,58.523 303
Bin v tr s trung bnh ca ng sut php:
67

M
a max
W
0
m
vi
d3
32
.123
32
170
M
a1 max1 1
W1
M 2x M 2 y
W1
02 22502
13, 2
170
Bin v tr s trung bnh ca ng sut tip:

T1
a 2 max1
W02
0
m2
vi
Wo2
d 23
16
a 2 max 2
.123
16
339
T1 88338
261
W02
339
, h s ch n nh hng ca tr s ng sut trung bnh n bn mi
Tra
10.7
1 ta c:
197
0, 05
K d 1 , K d 1 h s xc nh theo cng thc
K d 1 K / K x 1 / K y
K d 1 ( K / K x 1) / K y
vi
K x - h s tp trung ng sut do trng thi b mt, ph thuc vo phng
php gia cng v nhn b mt.Tra
10.8
1 vi b mt mi , b =1200Mpa
197
c K x 1
K y - h s tng bn b mt trc, ph thuc vo phng php tng bn b
mt, c tnh vt liu. Tra
10.9
1 vi trc tp trung nhiu ng sut, b
197
=1200Mpa c K y 2,1
68
, - h s kch thc k n nh hng ca kch thc tit din trc n
gii hn mi.Tra
0,92
0,92
10.10
1 vi thp hp kim c
198
K , K -h s tp trung ng sut thc t khi un v khi xon, ph thuc gii
hn bn vt liu trc. Tra
K 1, 76
10.12
1 c
199
K 1,54
K K / K x 1 / K y (1, 76 / 0,92 1 1) / 2,1 0,9

Vy c d 1
K d 1 ( K / K x 1) / K y (1,54 / 0,92 1 1) / 2,1 0, 7
1
523
s 1 K . . 0,9.13, 2 0, 05.0 44, 0
d 1 a1
m1
1
303
s
1, 7
1
K d 1. a1 r . m1 0, 7.261 0.0
Vy
Thay vo s1 s2 1.s 1 2
s 1 s 1
44, 0.1, 7
44, 02 1, 72
1, 7 s (1,5...2,5)
Tha mn iu kin bn mi.

Trc II
Ti tit din lp bnh rng 2, momen Mx =My =0 nn tha bn khng cn kim

nghim.
Xt tit din nguy him ln 2 (bn phi):
Kim nghim tng t ta c:
b 1200 MPa 1 0, 436. b 0, 436.1200 523
1 0,58. 1 0,58.523 303
Bin v tr s trung bnh ca ng sut php:

M
a max
W
0
m
a 2 max 2
M
2
W2
M 2x M 2 y
W2
d 23
W2
3407002 894302
39, 4
8942
32
.453
vi
32
8942
Bin v tr s trung bnh ca ng sut tip:

T2
a 2 max 2
W02
0
m2
vi
Wo2
d 23
16
.453
16
17892
69

a 2 max 2
T2 673275
37, 6
W02 17892
Cc h s c chn tng t:
0,05
K 1,76
K 1,54
0,92
0,92
K x 1
K y 2,1
K d 1 K / K x 1 / K y (1,76 / 0,92 1 1) / 2,1 0,9
K d 1 ( K / K x 1) / K y (1,54 / 0,92 1 1) / 2,1 0,7
Vy
1
523
s 1 K . . 0,9.39, 4 0, 05.0 14,8
d 1 a1
m1
303
1
s
11,5
1
K d 1. a1 r . m1 0, 7.37, 6 0.0
Thay vo s1 s2 1.s 1 2
s 1 s 1
14,8.11,5
14,82 11,52
9, 08 s (1,5...2,5)
Tha mn iu kin bn mi.

b Kim nghim bn tnh
phng kh nng b bin dng do qu ln hoc ph hng do qu ti t

ngt cn tin hnh kim nghim trc v bn tnh. Cng thc kim nghim c
dng: td 2 3 2
Trc I
td 2 3 2
Vi
M max / (0,1d 3 )
Tmax / (0, 2d 3 )
0,8 ch
Xt tit din 1-1:
M max / (0,1d 3 ) M x2 M y2 / (0,1d 3 ) 02 22502 / (0,1.123 ) 13,02
Tmax / (0, 2d 3 ) 88338 / (0, 2.123 ) 255, 60
0,8 ch c ch 580 t
6.1
1 0,8 ch 0,8.580 464
92
70
td 2 3 2 13,022 3.255,62 442,90 464
Tha mn bn tnh.
Xt tit din 1-2:
M max / (0,1d 3 ) M x2 M y2 / (0,1d 3 ) 180802 50812 / (0,1.133 ) 85, 48
Tmax / (0, 2d 3 ) 88338 / (0, 2.123 ) 255, 60
0,8 ch c ch 580 t
6.1
1 0,8 ch 0,8.580 464
91
td 2 3 2 85, 482 3.255,602 450,89 464

Tha mn bn tnh.
Kim nghim tng t vi trc II u tha mn.
c Kim nghim cng xon
Kim nghim cng xon theo cng thc: Tl / (GJ 0 ) 0

Vi
G- m un n hi trt, vi thp c G 8.104 ( MPa)
J 0 - mmen qun tnh c cc, vi chi tit trn ng knh d, J 0 d (mm4 )
4
32
l - chiu di on trc ang tnh
i vi on trc c rnh then tnh theo cng thc

Tlk / (GJ0 ) vi k 1/ 1 4 h / d
Vi
h chiu su rnh then
h s, bng 0,5 khi c mt rnh then.

Gc xon cho php c ly 0o30' vi trc ca hp gim tc.
Thc hin kim nghim cho trc I
Tit din 1-1 lp ln nn kim nghim theo cng thc: Tl / (GJ 0 )
Tra Catalog SKF c b01 10 , ly chiu di l b01 10 , d11 12
Tl / (GJ 0 ) 88338.10 / (8.104. .12
32
) 5, 42.103 000 '19,53'' 0o30 '
71

Thc hin kim nghim cho trc II
Tit din 2-2 c then nn kim nghim theo cng thc: Tlk / (GJ0 )
Ly chiu di l d 22 45 , , h 9 , k 1/ 1 4 h / d 1/ 1 4.0,5.9 / 45 1,67
Tlk / (GJ 0 ) 673275.45.1, 67 / (8.104.
454
32
) 1,57.103 0o 0 '5, 66 '' 0o30 '
Vy trc I, II u tha mn cng xon.

5.8 Chn ln
5.8.1 ln trc I
a Chn loi ln
Trc I ni ng c v lp bnh rng thng khng chu lc dc trc nn ta chn

bi 1 dy
b Chn kch thc ln
Theo tnh ton phn kch thc trc, ta chn c ln c d 12(mm)

Tra Catalog ca SKF ta c b thng s:
72
Hnh 5 14 Catalog ln trc I
Chn:
Thng s
d(mm)
D(mm)
B(mm)
C(kN)
C0(kN)
Gi tr
12
37
12
10,1
4,15
c Kim nghim kh nng ti ng ca
Kh nng ti ng ca kim nghim theo cng thc: Cd Qm L

Trong :
Q - ti trng quy c
L - tui th tnh bng triu vng quay
m -l bc ca ng cong mi khi th v ln, m=3 vi bi
Tnh L:
Gi Lh l tui th ca tnh bng gi:
60.n1.Lh
106
73
vi Lh (10...25)103 gi tnh trong hp gim tc, chn Lh 10000

n=120(vg/ph) l s vng quay ca trc 1
Vy L
60.n1.Lh 60.120.10000
7, 2 ( triu vng quay)

106
106
Xc nh ti trng ng quy c Q
Q ( X .V .Fr Y .Fa ) Kt .K d
Trong
Fr , Fa l ti trng hng tm v ti trng dc trc
V l h s k n vng no quay, y vng trong quay V=1

K t l h s k n nh hng ca nhit K t 1(t o 100o )
K d l h s k n c tnh ti trng. Tra 11.3 1 , vi va p nh: K d 1
215
X ,Y l h s ti trng hng tm v dc trc

Lc hng tm trn cc :
Kt qu Fx10 , Fx11 c s dng tip cho phn tnh ln:
Fr 0 Fx210 Fy210 46312 18082 4971 N
Fr1 Fx211 Fy211 50812 18082 5093 N
Lc dc trc Fa = 0
V ch c lc hng tm nn X=1, Y=0
Ti trng quy c trn 0 v 1 l:
Q0 XVFr 0 YFa 0 kt kd 1.1.4971 0.0 .1, 2.1 4971( N )
Q1 XVFr1 YFa1 kt kd (1.1.5393 0.0).1, 2.1 5093( N )
Ta ch cn kim nghim ln chu lc ln hn, c ti trng ng quy c

Q Q1 5093( N )
Vy => Cd Q m L 5093.103. 3 7, 2 9,8 C 10,1(kN )

Vy ln chn tha mn kh nng ti ng.
d Kim nghim kh nng ti tnh ca
Nhm trnh hin tng bin dng d ta tin hnh chn theo kh nng ti tnh.
74
Kim nghim kh nng ti tnh theo cng thc: Qt C0

Tra
11.6
1 vi bi 1 dy Xo=0,6
221
Kim nghim vi ln chu lc ln hn Fr1 5093( N ) :

Qtb X 0 Fr1 Y0 Fa1 0,6.5093 3055 N 3,0(kN ) C0 4,15(kN )
Vy ln chn tha mn kh nng ti tnh.

5.8.2 ln trc II
a Chn loi ln
Do tnh cht hot ng linh hot theo cc phng ca cnh tay robot nn c lc
sinh ra lc dc trc khp 3 (v d chuyn ng ct tnh tin theo phng Z0 ca
khu 1 s sinh lc dc trc ln khp 3). Vy ta chn bi -chn 1 dy.
b Chn kch thc ln
Theo tnh ton phn kch thc trc, ta chn c ln c d 45(mm)

Tra Catalog ca SKF ta c b thng s:
75
Hnh 5 15 Catalog trc II
Chn:
Thng s
d(mm)
D(mm)
B(mm)
C(kN)
C0(kN)
Gi tr
45
100
25
61
40,5
Kim nghim kh nng ti tnh v ng tng t ta c kt qu tha mn.
76
Hnh 5 16 M hnh Robot
77

TTR

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Tnh ton thit k robot

GVHD: Th.S inh Khc Ton

Tnh ton thit k robot

GVHD: Th.S inh Khc Ton

iu kin lm vic v cc thng s s c tnh chn ................................... 33

Tnh ton thit k robot

GVHD: Th.S inh Khc Ton

5.7 Tnh ton thit k trc .............................................................................. 61

Tnh ton thit k robot

GVHD: Th.S inh Khc Ton

Nn khoa hc k thut ngy nay ang pht trin rt mnh m, dn ti nhng

Tnh ton thit k robot

GVHD: Th.S inh Khc Ton

bi yu cu tnh ton thit k Robot khc ch trn mt phng ngang vi

phng ca cc trc h ta gc (cu hnh TTT). Khng gian lm vic ca bn

Hnh 1.1 C cu ta ecac

Thng khp th nht l chuyn ng quay.

Tnh ton thit k robot

GVHD: Th.S inh Khc Ton

C cu robot ta cu: Khng gian lm vic ca robot c dng hnh

Phng n 1: Robot 4DOF TTRR

Phng n 2 : Robot 3DOF RRR

Phng n 3: Robot 3DOF RRT

Phng n 4: Robot 4DOF TTRR

Tnh ton thit k robot

Phng n 5: Robot 4DOF RTRR

GVHD: Th.S inh Khc Ton

Phng n 6: Robot 3DOF RTR

Phng n 7 : Robot 3DOF TTR

Vi kt cu 4, 5, 6 bc t do, Robot s tr nn linh hot hn, s di chuyn

Tnh ton thit k robot

GVHD: Th.S inh Khc Ton

Hnh 1.4 phng n thit k cho robot TTR

GVHD: Th.S inh Khc Ton

Tnh ton thit k robot

Vi m hnh tnh ton bn trn ta t cc h trc ta theo quy tc Denevit

Hnh 2.1 s h trc robot

Trong q1 , q2 , q3 l cc bin khp , cn a1 , a3 l cc hng s

- Dng tng qut ca ma trn Denavit-Hartenberg cho cc khu

GVHD: Th.S inh Khc Ton

Tnh ton thit k robot

Ma trn Denavit-Hartenbergca khu 1:

Ma trn Denavit-Hartenbergca khu 2:

Ma trn Denavit-Hartenbergca khu 3:

2.2 Thit lp cc phng trnh ng hc robot

T cc ma trn (2.1) v (2.2) ta xc nh c ma trn bin i ta thun nht

GVHD: Th.S inh Khc Ton

Tnh ton thit k robot

- Khi , ma trn (2.5) c k hiu thnh

S dng cc gc Cardan xc nh hng ca vt rn. Ta gi xE , yE , zE , , , l

Vi: 0 AE l ma trn Cardan m ta hng EX2Y2Z2 so vi h ta

rE l vect m t v tr ca im tc ng cui trong h ta

sin sin cos cos sin

Tnh ton thit k robot

GVHD: Th.S inh Khc Ton

- T cc h thc (2.5), (2.6), (2.7),(2.8) ,(2.9) Ta xy dng c h 6 phng

f1 0 A3 (q)[1, 4] 0 A3 (t )[1, 4] a3 cos q3 a1 xE

2.3 Bi ton ng hc thun

Bi ton ng hc thun: Cc thng s u vo: q1 , q2 , q3

V cc thng s hnh hc:

Tnh ton thit k robot

GVHD: Th.S inh Khc Ton

Ta c th v th ca im thao tc cui qua cc ta nh sau vi t=0..10s: