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

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

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^

3 Danh muc ode b ^ g so li?u v

4 Danh muc ode hinh vi

1 Dat van de 1

2 T6ng quan cac van de nghien curu 1

2.1 Phan tich chiic nSng 1

2.2 Mo phong, thiet ke va che tao robot 1

2.2.1 Mo phong 1 2.2.2 ThiSt kS chS tao mo dun ca khi 2

2.2.3 Xay dung mo dun dieu khien 2

2.2.4 Xay dung mo dun phan mem dieu khien giao dien nguoi - may 2

3 Muc tieu, Noi dung va ket qua nghien cuu 3

r

3.1 Lira chon cau tnic va chuc nang 3

3.2 Mo phong thiet ke va che tao phan ca khi cua robot di dong 7

3.2.1 Mo phong dong hoc robot 7

f f r \

3.2.2 Thiet ke va che tao phan co khi 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 27

3.4.1 Phan tich cac chiic nang 27

ii

3.4.2 Xay dung cac mo dun 27

4 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

5 Ket luan v4 kien nghi 37

III TAI LIEU THAM KHAO 38

IV PHU LUC 39

2 Danh sach nhCrng ngvoi tham gia thirc hien de tai

Nguyen Truong Thanh

Phung van Hiep

Hoang The Huynh

Ha Van Quang

Bui Nam Duong

Cao Xuan Hoang

Ca quan cong tac

Bo mon Cong nghe Hang khong vii tru, Khoa Co hoc ky thuat va

Tu dong hoa Phong DLHVT & CDTCX, Vien Cong nghe Vu tru Phong DLHVT & CDTCX, Vien Cong nghe Vii tru Phong DLHVT & CDTCX, Vien Cong nghe Vii tru Phong DLHVT & CDTCX,

Vien Cong nghe Wu tru

Phong DLHVT & CDTCX, Vien Cong nghe Vu tru Phong DLHVT & CDTCX, Vien Cong nghe Vu tru Phong DLHVT & CDTCX, Vien Cong nghe Vii tru Phong DLHVT & CDTCX, Vien Cong nghe Vii tru

IV

3 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 do 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 do chay tu dong 21

Bang 5: Cic h ^ hien thi g6c nhin 23

4 Danh muc cac hmh

Hinh 1: Robot di dong hai banh 4

Hinh 2: Robot di dpng ba binh 4

Hinh 3: Robot didpng Sojourner 5

Hinh 4: Robot didpng Pioneer P3-AT 5

Hinh 5: Robot Asimo cua tap doan Honda 6

Hinh 6: Robot di dong cua hang Plustech [7] 6

Hinh 7: Cac he true tpa dp gSn vao robot 7

Hinh 8: Dong hoc robot 8 Hinh 9: Dong hoc ciia mot banh xe 9

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 thanh mot khung vung chac 14

Hinh 15: Thanh ga tang do ciing vung 15

Hinh 16: Banh ciia robot di dong vai cac duong gan de tang do 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 do dieu khien bang tay 20

Hinh 25: Giao dien phan mem a che do chay tu dong 22

Hinh 26: So do 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 ra cua robot 32 Hinh 40: So do mach vi dieu khien trung tam 32

Hinh 41: Toan bp mach dieu khien sau khi 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

Project Title: ''Manufacturing the mobile robot kit based on SR5'01

robot for Mechatronics Education "

2 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

II PHAN NOI DUNG CHINH

Dat van de

De tao ra 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 trong khuon khi 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 ra 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 thanh lan thuoc nhieu ITnh vuc khac nhau: ca khi, dien tu, CNTT Vi vay mo hinh thue nghiem

1 dien tu Robot di dpng da dupe lira chpn vai cau tnic gom ba mo dun sau:

- Mo dun CO khi dupe lua chpn la bp lap rap robot dua tren mo hinh robot di dpng 4 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 do phan tich de tin ra 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 ra cac thong so dong hgc

IL PHAN NOI DUNG CHINH

1 Dat van de

D I tao ra 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

thanh trong khuon khi 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 )

2 Tong quan cac van de nghien cuu

2.1 Phan tich chirc nang

De tao ra 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 thanh 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 khi dupe lua chpn li bp lap rip robot dua tren mo hinh robot di dpng 4 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 do phan tich dl tin ra 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 ra cac thong so dong hgc

1

Sau khi qua trinh mo phong kit thiic cac thong so hinh hpc v i dpng hpc ciia robot se dupe su dung cho vi^c thiet ke h? thong ca khi ciia robot

2.2.2 Thiet ke chi t^omd dun ccr khi

r r

Tren ca sa cic ket qui mo phong, nh6m nghien ciiu da dua ra dupe thiet ke ca khi robot Cac phin ciia robot dupe gia cong tii vat lieu phip thuy tinh tren miy CNC de co the dim bio dupe dp chinh xic va ciing viing nhat dinh cua kit cau ca khi ciing nhu tinh tham my cua mpt

mo hinh th\rc nghi?m

2.23 Xay dung md dun ^u khien

Mo dun dieu khien cho Robot di dpng (Mobile robot) c6 nhiem vu nhan cic lenh dieu khien

tu miy tinh gui xuong mach dilu khiln dit tren robot, xii ly thong tin, dua ra tin hieu dilu khien cic co cau chap hinh li cic dpng co dien mpt chieu Vi vay mo dun dieu khien dupe chpn bao gim:

- Bg dieu khien trung tam: ket noi khong day vai miy tinh Bp dieu khien niy dupe xay

dung dua tren chip dieu khiln PIC 18F2550, truyen thong vai miy tinh thong qua thilt

bi thu phit khong day v6i chuan RS232

- Bg dieu khien dong ca: Bp dieu khien dpng co niy li mach cau H, co chiic nang dilu

khien 4 dpng ca vdi viec dieu khien hai cum dpng co ben trai vi ben phii

2.2.4 Xay dimg mo dun phan mem dieu khien giao dien nguoi - may

Nhiem vu dat ra vai phan mem giao dien la ho tra thiet ke quy dao, mo phong vi dieu khien giim sit robot di dpng tii miy tinh vai hai che dp li dieu khien bing tay vi dilu khiln tu dpng

r ^ f

De dip ling nhiing yeu cau tren, phan mem dupe thiet ke bao gom cic mo dun chinh sau:

r ^ r

Khoi kit noi: Thue hien cic giao thiic ket noi vai thiet bi truyen phit khong day, thyc

hien truyin nhan cac lenh dieu khien

KhSi diiu khiin bdng tay: Nhan va xii ly cic thao tic bim tren ban phim may tinh va

nhap cic thong so do vio khoi tinh toin de tinh toin vi giii xuong khoi dieu khien cac

CO cau chap hinh

KhSi diiu khiin tu dong: Nhap file du lieu vl hinh trinh cua robot, xu ly cac dix lieu

do vi truyin tii cic lenh theo diing thii ty xuing mach dilu khiln

Muc tieu, Noi dung va ket qua nghien cuu

.1 L ^ chQn cau tr^c vk chuc nang

fhim muc dich giiip sinh vien Ca dien tu lim quen vai viec thilt ke, che tao vi dieu khien

3bot thyc hi^n cic thao tic lya chpn, nh6m cin bp thyc hien dl tai tien hinh nghien ciiu,chpn

la vi xay dyng vi che t^o mpt mo hinh he thong robot di dpng (khung robot di dpng, module

ilu khiln, phan mem dilu khiln) ph6ng theo mpt loai robot diln hinh dupe ling dung rpng

ai nhilu trong cong nghipp v i c6 tinh khi thi trong pham vi cua de tii do li robot di dpng bon

linh

lobot di dpng (robot ty hinh hay mobile robot) li mpt loai robot co khi nang ty di chuyin,

'in dpng theo lap trinh sin ho^c ket hpp vai sy dieu khien cua con nguai de thyc hien mpt

ong viec dupe giao

lobot di dpng dupe tich hpp ca cau tay may, cim biln vi he thong dilu khiln thong minh c6

mg dung rpng rai trong cupc song, robot di dpng su dung trong cong nghiep thay the con

iguai nhu cic robot mang vie, xep ra hing hoi, robot lam viec trong moi truong dac biet mi

;on nguoi khong trye tiep tiep can dupe nhu robot hin, tu sua duang ong, robot lim viec duoi

mac, nhttng noi nhilm phong xa, moi truong doc hai hay nhiet dp cao Robot di dpng giiip da

:on nguai trong sinh hoat nhu robot lau nhi, dpn ve sinh, robot ho trp di chuyen cho nguai

diuylt tat Trong ITnh vyc an ninh, quoc phong robot di dpng cung dupe su dung tuong dii

•png rai nhu robot an ninh, robot thio go min Ngoii ra robot di dpng con dupe su dung trong

:ac nhiem vu tien phong tham hiem nhimg noi mai mi con nguai chua co dii dilu kien tilp

:an nhu robot tham do cic hinh tinh ngoii trii dat, robot thim hiem dai duong, niii lua Do

r f r

[Chi nang ling dung rpng rai v i sy thiet yeu ciia robot di dpng vai cupc song con nguai nen

:hung ngay cing dupe nghien ciiu phit trien manh me ve ca so luong vi chat luong Theo bp

phan chuyen dpng co the chia robot di dpng ra lim hai lap: chuyen dpng bang chan (legged)

va chuyin dpng bing binh (wheeled) Trong lop dau tien, robot di chuyen nha cic chan co

khi bat chuoc chuyen dpng ciia con nguai hoac dpng vat Robot loai nay co khi nang di

chuyen tot trong dia hinh loi 16m, phiic tap, bac thang, hoac dia hinh khong lien tuc Tuy

nhien, each ket hpp chan vi viec giii vimg tu the la viec cue ky kho khan, van toe di chuyen

cham Lop thii hai (di chuyen bang banh), robot di chuyen nha chuyen dpng quay ciia banh

tron quanh true hoac banh xich Robot chuyen dpng bang banh dupe sii dung nhilu trong thyc

te vi che tao don gian v i khi nang di chuyen on dinh, nhanh, chinh xac tren nhieu loai dia

hinh khong qua phiic tap Diem han che cua loai hinh di chuyen nay li di chuyen trong dia

hinh bac thang, dia hinh doi hoi leo treo hay dia hinh diit doan mi khoang diit Ion hon duong

kinh banh Tuy nhien van de niy van c6 the khac phuc nho thiet ke cac kieu banh dac biet

Thong thuong mpt robot di dpng bao gom: khung robot, he thong chap hanh (motor, xi lanh

thuy lye, khi nen ), cim bien (cim bien quang duong, cam bien khoing each, cam biln goc

so vai tir truong trii dit, camera ), he thing dilu khiln (co thi li dilu khiln ty dpng hoac ban ty dpng), h? thong truyen thong

Duoi day xin dupe giai thieu mpt si loai co ciu robot mi trong cong nghiep vi nghien ciiu hay dupe su dung:

- Robot di dpng chuyen dpng bang banh:

Hinh 1: Robot di dpng hai banh Tren hinh 1 robot dupe sir dung trong cic cupc thi lap trinh robot da bong Day la loai robot phuc vu cho muc dich nghien ciiu, cho cic cupc thi lap trinh robot da bong hoac robot tim duong Robot CO hai binh

Hinh 2: Robot di dpng ba banh

Hinh 3: Robot di dpng Sojourner Robot Sojoumer da dupe sii dung trong nhiem vu thim hiem sao Hoa vao mua he nam 1997

Hinh 4: Robot di dpng Pioneer P3-AT Robot Pioneer P3-AT co bon binh mang theo cac loai cim bien, bp thu phat khong day dung cho 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 dpng di chuyen bang banh dupe sir dung rpng rai, chinh vi vay nhom lim de tii da chpn robot phong theo robot di chuyen bang bin banh dl chi tao Robot se bao gom bon binh co the mang theo canh tay robot chuoi hoac cac thiet bi di kem khic Hai binh hai ben co ciing van toe vi phan dieu khien robot dupe ket nli khong day voi miy vi tinh thong qua thilt bi thu phit khong day voi chuin RS232

.2 Mo phong thiet ke vi che tao phan cor khi cua robot di dong

,2.1 Mo phdng d^ng hpc robot

16 phong dpng hpc robot li mpt nhiem vu quan trpng can phii tien hinh khi nghien ciiu ve ipt h? thing robot Tinh toin dpng hpc robot giiip nguai thilt kl he thing nim bilt dupe hoat ong robot minh thiet ke (khdng gian lim vi?c, diem ky di, ), tir d6 phan tich de tim ra cic lam si cin thilt: tham si vl kfch thu6c hinh hpc cic chi tilt ciia robot, tham si vl dpng hpc

i tii trpng can mang phyc vy cho viec chpn lya cic co cau chap hinh (bang thuy lye, bing ien, ), cic tham so ve van toe, gia toe ciia cic kh6p chu dpng vi dich chuyen ciia chiing can hilt dupe xic dinh dl phuc vu dilu khiln robot

jii thilt ring robot chuyen dpng tren mit phang vai he tpa dp tuyet doi (he tpa dp co dinh) Ii

Xg, Yg, Zg) dupe chpn nhu hmh 7 He tpa dp tuong dii (XI, Yl, Zl) dupe gin vio tam khii

ua robot (COM: tam khoi) Nhin vio hinh ve ta thay vi tri cua robot (vi tri tam khoi) trong he

pa dp tuyet doi li COM = (X, Y, Z) Vi robot chuyen dpng tren mat phang nhu gii thiet nen

L khong thay dii

Hinh 7: Cac he true tpa dp gan vao robot Gii thilt robot di chuyen tren mat phang vai van toe dai li v = [v^ v^ 0]^ va quay voi van toe

goc 6; = [0 0 ojif N I U ^ = pC Y ^]^ vecto mo t i tpa dp suy rpng cua robot (vi du vi tri tam

khIi CO tpa dp la X, Y va ^ la goc quay cua robot trong he tpa dp tuang doi so voi he tpa dp

tuyet dii) thi ^ = [X Y Of la vecto van tic suy rpng ciia robot Tren hinh 7 X, Y la vecto van

toe thanh phan ciia robot trong he tpa dp tuyet doi xac dinh :

!uan he giiia van toe cac binh xe vi van toe than xe (robot)

jii thilt ring cic binh xe i quay voi van toe goc o^ (t), voi i = 1, 2, 3, 4, ta co thi thiy diu

io dilu khiln a cac binh xe Mo hinh dpng hpc binh xe dupe the hien tren hinh 9

rong do: v^^^ li van toe theo phuang dii (phuang x) ciia vecto van toe tong v^ cua banh xe iiii

r li bin kinh quay cua ciia binh xe

Hvt&ng di chuy&i cua robot

Phtfong doc Phuffng ngang Pi

H i n h 9: Dpng hpc cua mpt b i n h xe Bay gia ta xet moi quan he dpng hpc giua c i c b i n h xe Tren hinh 9 ta co vecto b i n kinh

d- = [d-^ d-yj v i d^ = [d^^ d^l la khoing each tir tam cac b i n h xe v i C O M den tam quay

tiic thai (ICR: instantaneous center of rotation) Dya v i o quan he hinh hpc ta co:

Tpa dp ciia tam quay tiic thai trong he tpa dp tuang doi li:

ICR = iXfCR.yjcR) = (-d,c^<^yc)

Trong do a, b, c la cac thong s i dpng hpc robot dupe cho nhu hinh 8

f r

Kit hpp (4) va (7) ta c6 moi quan he van toe giiia cac banh xe:

(7)

rong d6 v^,v^ la van toe dai day trdi va day phai ciia robot, v^,Vg la van toe ngang ciia day

•uac va day sau eua robot

'A

fflnh 10: Dong hoe eua eae banh va than robot

Su dung (4) vi (8) bien doi ta co phuang trinh mo ta moi quan he giua van toe cac banh xe va /an toe robot:

(16)

Phuang trinh (14) mo ta dong hoc cua robot

Ap dung vao mo hinh mobile robot voi bang thong so sau:

r

Khoing each tu trpng tam xe den true sau Khoang cich giira 2 banh trai vi phai Bin kinh ciia banh xe

Vai Vr=Vl

11

12.2 Thiet ke va che tao phan co^ khi cua robot

» Cic chirc nang cua phan khung ca khi gom c6:

^ Di chuyen linh hoat a dfa hinh bdng phang va mot so dia hinh khac, do bam duang tot

^ Co mo dun de co thi idp rap them cac chiic nang khac khi cdn thiit nhu: camera, robotkit (robot tay may dgng chuSi), mach diiu khiin

^ Do tham my cao di phii hgp vai moi truong supham

r r

fren co sa phan tich cic chiic ning ciia robot va tinh toin dpng hpc ciia robot nh6m thiet ke tua ra bin thilt kl phan ca khi ciia robot di dpng nhu sau

> Vat lieu che tao: • •

Giung robot di dpng dupe chi tao bing vat lieu phip spi thuy tinh vi no tuong doi nhe, dl gia

;6ng che tao, thong dung tren thi truong, va van dim bio dupe yeu cau ve dp chiu lye, ngoii

a no con tao tham my cho mo hinh

Thiet ke 3D

Hinh 11: Mo hinh 3D ciia robot tren phin mim SolidWorks

^e CO bin robot dupe the kl dya theo xe 4 binh nhu hinh 7

'han khung robot bao gom cic tim dupe gia cong va lap ghep vai nhau:

Tam mgtphia tren

'im mat phia tren ngoii tic dung tang dp ciing vung toin khung vi con li noi lap bo mach hii dilu khiln Tim mat tren dupe thiet ke 6 lo bat vit voi cac thanh gi Cac 16 phan bl dIu 2

en de dim bio lye uon 2 ben li dong deu vi nho nhat

Hinh 12: Tam mat tren cung cua robot

Cac tam mdt ben

ic tim mat ben ciing nhu tim mat phia tren ngoii tic dung tang dp ciing vimg toan khung, )n CO them chiic nang phu khic NIU nhu tim mat phia tren dung ga bp mach chii thi cac tim

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nat ben li noi ga dpng ca Tren cic tam mat ben niy co khoan cic lo de bat vit voi cic thanh

;i, vi CO cic ranh de gi v6i cac tim phy

Hinh 13: Tim mat ben cua robot

Cac tam phu

r f r / ^

Zkz tam phu ho trp cho cic tam mat ben, vi tam phia tren nham lim tang dp ciing viing toan

:h6i Khoing khong gian phia tren giua tam phu ngang va tim phia tren dung de chiia ic quy

Hinh 14: Ghep noi vai cac tam phu tra thinh mpt khung viing chac

* Cac thanh gd

I^ac thanh gi dupe lim bang vat lieu nhom nhe, bin Cic tam mat tren, mat ben, mat phu ien ket voi nhau chinh li nha thanh gi Ngoii tic dung lien kit, vi tri cac thanh gi luon chiu

yc phi huy cao khi co tii tren khung, vi vay cic thanh gi niy phii doi hoi dp ciing lan chong

ai dupe ling suit phi huy vi cic ngoai lye tic dpng khac

Hinh 15: Thanh ga tang dp ciing vimg

Cac banh xe

2ic binh xe dupe chpn mua voi kich thuac tieu chuan iso Binh dupe lam bang cao su co dp

lin hoi va co gian, co tic dung giim soc bio ve ket cau khung mobile, lim xe chay em hon

^hia trong banh co 6 da bang nhya O do niy noi voi dpng ca co hop giim toe

Hinh 16: Banh ciia robot di dpng voi cic duong gan dl tang dp bam duang

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Quy trinh Idp rap robot di dong:

Hinh 17: Buoc mpt

r r r

Suae thii nhat cic tim mat ben vi tam phu duoi se dupe ghep vdi cic thanh gi

Hinh 18: Buoc hai

Hinh 20: Buoc bon

i p dat bon dpng co vio cic lo co dinh dpng ca

Hinh 21: Buoc nam -ap dat bin binh vio bon dpng ca

Hinh 22: Buoc cuoi cung

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OAI HOC QUOC GIA HA NOI

Tf?UNG TAM THQNGJIM THU VIEN

Che tao:

A6 hinh sau khi dupe thilt ke tren cic phin mem CAD dupe xuat ra cic dinh dang CAM

)inh dang niy dupe sii dung cho viec che tao tren cic miy gia cong CNC Hinh 23 li mo linh day du cua he thong co khi ket hpp voi he thong mach dieu khien

Hinh 23: Bp lap ghep Robot di dpng

3 Phat trien phan mem giao dien nguM - may

3.1 Phan tich cac chirc nang

• Cic churc ning ciia phan mlm dieu khien Robot gom co:

^ ^

^ Thue hien giao thue ket noi khong day RS232 vai phan mim bin duoi robot di dgng

^ Nguai sir dung diiu khiin true tiep robot trin may tinh thong qua cac nut bam tren ban phim

^ Phdn mim co kha nang nhap file kich ban chay robot vao trong phdn mim vai hai thong so thai gian chay va linh re trai phai, tiin va lui

/ Mo hinh hda 3D mo hinh cua robot di dgng vai cac kich thuac thong sd tuang tu nhu robot thue ti, mo phong cac chuyen dgng cua robot mgt each true quan

^ Hinh thanh khung nin cho cac img dung ma rgng vi sau cua robot di dgng nhu la tich hap camera di xu ly anh, diiu khiin bdng thiit bi xuc giac Haptic

ren co so phan tich cic chiic ning cua robot, phin mim bao gom cic lap, voi cic khoi chiic ing sau:

3.2 Xay dung cac mo dun

• Khoi giao thirc ket noi CMSComm

a lop trye tilp thyc hien truyin, nhan dur lieu qua cIng noi tiep theo chuan RS232 MSComm li mot dilu khiln ActiveX cua Microsoft cho phep giao tilp vai cIng nli tilp, ctiveX niy da dupe xay dyng theo nhimg phuang phip trao doi dir lieu thong dung giua iiy tinh PC vi mpt doi tic truyin thong khac theo chuan noi tiep RS232 MSComm li mpt CtiveX phuc vu cho cic giao thiic truyin ky ty

• Khoi dieu khien bang tay

ic mit bim dk dilu khiln robot bing tay tren phin mim dIu xu ly bing sy kien

^_KEYUP vi WM_KEYDOWN ciia lop MFC ciia moi truong lap trinh Visual C++ Khi

^ a i dung chpn chi dp Manual cic mit bim se a chi dp hien Thong qua bon phim W, A, S,

va phim SPACE dl thao tic voi robot, robot se chay khi nhin cic phim vi thyc hien viec

mg ngay khi khong bim phim

• Chi do diiu khiin bdng tay gSm cac phim chirc nang:

- Tien (Move up): robot tiln thing vl phia truac

- Lui (Move down): robot lui vl phia sau

- Re trai (Turn left): re trii robot ngay tai dilm do

- Re phai (Turn right): re phii robot ngay tai dilm do

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void void void void void

Phim chiic nang Move Up (W)

Move Down (S) Tum Left (A) Turn Right (D) STOP (SPACE) Manual

Mo ta

Di chuyen robot ve phia truac

Di chuyen robot ve phia truac

Robot re trii Robot re phii Dimg robot Chuyen sang che dp chay bang tay

Bang 2: Cic him chiic nang cua che dp chay bang tay

Hinh 24: Giao dien phan mem o che dp dieu khien bang tay

• Khoi dieu khiln tv dpng

6 chiic ning load file quy dao chay ciia robot ttr file ".txt" Sau do ty dpng thyc hien cic

nh dilu khiln theo thii ty nhu trong file kich bin Nguai su dung tao cic quy dao thong qua

void

void

void void void

Phim chiic nang STOP (SPACE) RUN

Load file

Automatic

Settings Help Connect

Mo ti Dimg robot Bat dau chay robot Nhip file dau vao la cic thong so kich ban chay

Chuyen sang che dp chay ty dpng

Cic che dp cii dat cho phan mem

Phan trp giiip Ket noi giiia phan Cling vi phan mem

Bang 4: Bing cac ham chiic nang cua che dp chay ty dpng

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mnh 25: Giao dien phan mem a che dp chay ty dpng

> Khoi ve va mo phong boat dpng:

/e mo hinh robot va mo phong lai cac hoat dpng cua robot bang thu vien do hpa OpenGL )penGL dupe djnh nghia li "giao dien phan mem ciia phan ciing do hpa" va dupe xem li huin thilt kl dl hpa trong cong nghiep Voi giao dien lap trinh manh, OpenGL cho phep tao

a cic ling dung phiic tap voi dp chinh xic cao mi nguoi dung khong phai quan tam den cac ong thiic toin hpc vi cic ma nguin phiic tap Li chuin cong nghiep nen no co thi dimg tren ihilu he dilu hanh vi cac phan ciing khic nhau

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