BI THC HNH K THUT ROBOT (CT380)

Th nghim #2: ROBOT SEIFER

STT H v tn sinh vin MSSV Nhm
1 vdssf
2 cbb
3 dfvfd
4 yjty

1) Th nghim 1 - Kho st c cu ca Seifer

M hnh cnh tay robot Selfer l mt tay my robot kiu cnh tay ngi c 5 bc t do gm
5 khp: thn, vai, c tay (2 khp) v ngm kp, cc khp trn c iu khin bi 7 ng c
(hnh 3.38).
Cc k hiu trong hnh:
- M1 l ng c iu khin khp 1.
- M2, M3 l ng c diu khin khp 2.
- M4, M5, M6 l cc ng c iu khin cc khp tng ng 3, 4, v 5.
- M7 l ng c iu khin tay kp.
Yu cu 1: Hy nh du cc khp v cc ng c trn hnh robot.

Cc thng s c bn ca robot Seifer:

- S khp: 5 khp v mt tay gp.

BI THC HNH K THUT ROBOT (CT380) I HC CN TH - 2016
 BI THC HNH K THUT ROBOT (CT380)

- Thit b truyn ng: 1 ng c DC gim tc v 6 ng c DC servo.

- B phn hi tip: s dng bin tr loi 50k Ohm.

- Gii hn cc khp:
Bng 1: Phm vi hot ng cc khp.

Gii hn Gii hn bng chng

Khp
khp trnh iu khin
1 3600 1800
2 600 360
3 1000 880
4 1500 1060
5 1850 1500

Yu cu 2: Hy kho st trn m hnh thc, sau thc hin o c v ghi y cc kch thc
chnh trn cc b phn ca robot sau:

BI THC HNH K THUT ROBOT (CT380) I HC CN TH - 2016

 BI THC HNH K THUT ROBOT (CT380)

2) Th nghim 2 - Xc nh h ta v bng thng s DH cho robot Seifer

Yu cu 1: Hy gn cc h ta ln hnh di theo tiu chun ca DH.

BI THC HNH K THUT ROBOT (CT380) I HC CN TH - 2016

 BI THC HNH K THUT ROBOT (CT380)

Yu cu 2: Lp bng thng s DH t h ta trn

Khu i () di (cm) ai (cm) ai ()

1
2
3
4
5

Yu cu 3: T bng thng s DH, thnh lp cc ma trn A1, A2, A3, A4 v A5

Yu cu 4: Thnh lp ma trn bin i DH, T = A1.A2.A3.A4.A5
(Hai yu cu 3 v 4 cc bn sinh vin ghi trn 2 trang giy A4 km theo)

BI THC HNH K THUT ROBOT (CT380) I HC CN TH - 2016