Bi thuyt trnh mn Thit k h thng c in t

Bi thuyt trnh mn Thit k h thng c in t

Ch Hexapod

Phng php tip cn: Bradley

Bradley

(thiet ke c ien t)

Need

(Nhu cau)

Feasibility

(Tnh kha thi)

Specification

(Trnh bay chi tiet cac nhiem vu cong viec)

Conceptual

Design

(Thiet ke khai quat)

Analysis and

Modelling

(phan tch va mo hnh hoa)

Embodiment

and

Optimization

(cu the va toi u hoa)

Detail design

(Thiet ke chi tiet)

1/ Nhu cu:

Nhu cau nang cao nang xuat va chat lng san pham ngay cang oi hoi ng dung rong rai cac phng tien t ong hoa san xuat. Cac thiet b nay ang thay the dan cac may t ong " cng " ch ap ng mot viec nhat nh trong luc th trng luon oi hoi thay oi mat hang ve chung loai, ve kch c, va ve tnh nang v.v V the ngay cang tang nhanh nhu cau ng dung ngi may e tao cac he san xuat t ong linh hoat .

Hien nay CNC hoa may cong cu la mot hng i chu ao trong t ong hoa nganh Che tao may. Tuy nhien khi gia cong nhng be mat phc tap th may phay CNC 3 truc boc lo ro nhng nhc iem ve nang suat, chat lng va hieu qua. Chnh v le o ma ngi ta quan tam nhieu en may phay CNC 5 truc.

Cau truc cua may CNC 5 truc kieu truyen thong la ngoai 3 truc X, Y, Z co them 2 truc quay A, B. Vi 5 truc, gom 3 truc thang va 2 truc quay, bat ky be mat nao du la mat phang hay mat tron eu co the c tao nen moi v tr trong khong gian lam viec. u iem cua may CNC 5 truc so vi may CNC 3 truc khi gia cong cac be mat phc tap la :

- Giam so lan ga at

- Tranh c cac cho cat sau khi hnh dang phoi phc tap

- ieu kien cat tot hn nen chat lng be mat tot hn

Tuy nhien, co mot so nhc iem :

May 5 truc co gia thanh cao, co the dao ong t 500.000 ( 700.000 USD (khoang 7 ty en 10 ty).

Can he ieu khien CNC manh

Truc quay phu gay ra sai so v tr

Ch co the lap trnh vi mot he thong lap trnh ac biet

oi vi may co 2 truc tren ban kep khong gian lam viec nho

Cac may vi cac truc quay tren truc chnh co o cng vng thap v truc quay cua truc chnh han che s truyen lc , so vong quay cao con co moment tac ong do hieu ng con quay hoi chuyen.

T nhng nam 90 rat nhieu Cong ty, trng ai hoc, Vien nghien cu c, Phap, Ha Lan, Anh, Nhat, Han quoc, Canada va My a bat au nghien cu mot loai may phay CNC 5 truc ao kieu Hexapod da theo nguyen ly cua Stewart co gia thanh re hn nhieu, lai cng vng va chnh xac hn.

Nhng tap oan cong nghiep nh Toyoda (HexaM Machine), Fanuc (F-100 Robot), Hexel (Tornado 2000), Geodetic (G500 Machine), cung ng dung Hexapod

Ngoai lnh vc C kh Hexapod con c dung trong nhieu lnh vc khac na, nh: Y hoc, Thien van hoc, Giao thong, Trac a.

Sau ay la mot so hnh anh trien khai nghien cu ve Hexapod cua mot so trng ai hoc tren the gii:

a, May gia cong:

1-Khp cau 2-ong c 3-Khp noi truc 4-ai oc bi

5-Truc vt me bi 6-Thanh dan hng 7-Ong trt 8-Ga di chuyen

1

2

3

4

5

6

7

8

1-e co nh 2-Khp cau 3-ong c 4-Khp noi truc

5-Ong dan hng 6-ai oc bi 7-Truc vt me bi

8-Ong trt 9-Khp cau

2

1

3

4

5

7

6

8

9

b, Trong lnh vc y hoc:

c, He thong mo phong.

d, ieu khien thiet b thien van

e, Trac a

2/ Tnh kh thi:

A-ieu kien ky thuat:

ac iem t ong cua robot c thc hien nh s ra i cua nhng bo vi x ly(microprocessors) va cac vi mach tch hp chuyen dung c goi la "chp" trong nhng nam 70 .

B- Tnh hnh nghien cu:

Vi nhng bc phat trien nhanh chong cua ky thuat vi ien t va tin hoc, hien nay ngi ta a sang tao nhieu robot co cam xuc va co kha nang x ly thong tin.

C cau 6 bac t do do Stewart a ra lan au tien nam 1965 a c nghien cu ap dung, t khoang nam 1992 nguyen ly nay a c nghien cu rat nhieu ni tren the gii nh d an NIST (t 1995 en 2001).

D an nghien cu loai tr dao ong cho thiet b ieu khien ve tinh NASA do ai hoc Washington va tap oan Hood Techology thc hien, ai hoc cong nghe Chemizt c, ai hoc Northwestern , ai hoc K-jist Han quoc, Vien nghien cu khoa hoc may tnh va ieu khien Phap, Trung tam nghien cu cong nghe khong gian Chau au, Vien cong nghe Lausanne Thuy Sy,

a co mot so e tai cac cap Trng va S trong lnh vc nay tai Khoa C kh, Phong Th nghiem C ng dung thuoc ai hoc Ky Thuat, X nghiep Sinco TP.HCM va cac nghien cu cua Vien Nghien cu May va dung cu IMI tai Ha Noi.

Va ac biet nhng to chc nghien cu sau ay co nhng chien lc au t rat ln e nghien cu ly thuyet cung nh ng dung trien khai

NASA

LME

NIST

D an Cubic Hexapod hp tac gia ai hoc Washington va Tap oan cong nghe Hood keo dai 6 nam t nam 1998 en nam 2004. D an nay c phat trien t Stewart platform e loai tr nhieu trong cac he thong chnh xac (ieu khien v tr vi o chnh xac 1 nanomet)

D an Hexaglide c trien khai Vien robot cua Thuy sy bat au t nam 1996. May la he cau truc song song 6 bac t do, s dung may phay toc o cao vi khong gian lam viec 700 ( 600 ( 500 mm , s dung he ieu khien VME-Bus va he thong thi gian thc. u iem la co the thc hien cac chuyen ong nhanh, o cng vng va o chnh xac cao

Ngoai ra Hexapod con la e tai nghien cu nong hoi cua nhieu trng ai hoc tren the gii, la e tai cua nhieu luan van Thac sy va Tien sy a va ang c trien khai khap ni tren the gii, chang han

Multi-sensor Control for 6-axis Active Vibration Isolation

Luan an Tien sy nam 1998, ai hoc Washington cua My, tac gia D. Gary Thayler

Modeling and Control of a 6-degree of freedom micropositioning parallel manipulator.Luan an Thac sy nam 1996, K-jist cua Han Quoc, tac gia Yoo Yun ParkAnalysis and Synthesis of Parallel Robot for Medical Applications

Luan an Thac sy nam 2000, ai hoc Ky thuat Israel, tac gia Nabil SimaanKinematic Models for Robot Compliant Motion with Identification of Uncertainties

Luan an Tien sy nam 1995, ai hoc Katolicke cua B, tac gia Herman Bruyninckx

Feasibility of Stewart Platform with Fixed Actuators as a Platform for CABG Surgery Device

Luan an Thac sy nam 2000, ai hoc Columbia, tac gia Zoran Lazarevic

In-parallel Passive Complaint Coupler for Robot Force Control

Luan an Thac sy nam 2000, ai hoc Florida cua My, tac gia Chad M. Tyler

Design of 6-degree-of-freedom parallel manipulator for microsurgery

Luan an Thac sy nam 1997, ai hoc quoc gia Seoul cua Han Quoc, tac gia Se Kyoung Song

Design parameters of Parallel manipulator

Luan an Thac sy nam 1998, ai hoc Ky thuat Israel, tac gia R. Ben. Horin

Analysis and synthesis of Parallel Robot for Applications

Luan an Thac sy nam 2000, ai hoc Ky thuat Israel, tac gia N. Simaan

Interface Pour Le Pilotage Et L'analyse Des Robots Basee Sur Un Generateur De Cinematiques

Luan an Tien sy nam 1999, ai hoc Bach khoa Lausanne cua Thuy sy, tac gia Lorenzo Fluckiger

Improveing the Accuracy of Parallel Robots

Luan an Thac sy nam 1997, ai hoc Bach khoa Lausannecua Thuy sy, tac gia Peter Vischer

Kinematic Analysis Optimization and Programming of Parallel Robot Manipulators

Luan an Tien sy nam 1998, ai hoc Mc Gill cua Canada, tac gia Gosselin C.

3/ Cc ch tiu:

u iem cua c cau :

Co the nh v bat ky v tr, hng nao trong khong gian

Ket cau n gian, o cng vng cao

Cac quy ao phc tap va kho khan cua phoi co the c gia cong trong mot lan ga

o chnh xac, on nh cao

Co the tao lc rat ln va cng vng nh he thong chan thuy lc nhng van toc thap

4/ Thit k khi qut:

C cau nay gom 6 chan co o dai thay oi c, cac chan nay lien ket vi gia va platform bang cac khp cau. Bang cach thay oi chieu dai cac chan, ta co the thay oi v tr va hng cua platform trong khong gian .

Platform

Gia

Chan

au gia cong

Hnh 1.1 : Mo hnh Hexapod

ac tnh dieu khien la song song:

Hexapod co ket cau kha n gian, nhng lam viec trong khong gian vi 6 bac t do, muon ieu khien en v tr bat ky trong tam vi cua tam di chuyen th ta ch thay oi chieu dai cua 6 chan, nhng phai ong bo vi nhau ngha la 6 chan cung bat au di chuyen va dng cung mot luc.

5/ Phn tch v m hnh ha:

A- Phan tch:

Phan tch ong hoc

XAC NH BAC T DO CUA C CAU.

F = ( ( n- j 1 )+fi -fp

Trong o: n la tong so khau trong c cau

j la tong so khp trong c cau

fi _ la tong so bac t do cua mot khp trong c cau

fp _tong so bac t do tha trong c cau.

F =6.(14 18 1) + (12 .3 +6) 6 =6

O

d

i

i

Hnh 3.1 :C cau Stewart- Grough.

HNH HOC C CAU.

Hai he toa o Descarter A (x, y, z )va B (u, v, w) c gan tng ng va gia co nh va tam di ong . Bien oi t tam di ong en gia c mo ta bang vect v tr p cua trong tam P va ma tran quay ARB cua tam di ong . Goi u, v, w la 3 vect n v tren 3 truc u, v, w trong he toa o chuyen ong. Ma tran quay se la:

ARB =

xxx

yyy

zzz

uvw

uvw

uvw

(3.2)

Cac phan t ma tran phai thoa ieu kien trc giao:

ux2+uy2 +uz2 =1 (3.3)ux v x +uyvy +uzvz =0 (3.6 )

vx2 + vy2 +vz2 = 1 (3.4 )uxwx +uywy +uz wz =0 ( 3.7)

wx2 +wy2 + wz2 =1 (3.5 ) vx wx +vywy +vzwz =0 (3. 8 )

Goi ai =[ aix ,aiy ,aiz ]T va Bbi = [biu ,biv , biw ]T la cac vect v tr iem Ai va Bi trong he toa o A va B tng ng. Phng trnh vect vong vi nhanh th i nh sau :

AiBi =p + ARB Bbi ai (3.9)

Chieu dai nhanh th i c tnh bang cach lay tch vect AiBi vi no:

di2 =[ p + ARB Bbi - ai ]T [ p +ARB Bbi ai ] ; vi i=1,2,6 (3 .10)

vi di la chieu dai nhanh th i .Khai trien pt (3.10) ta co:

di2 =pTp +[ Bbi ].[Bbi] +aiTai +2pT[ARB Bbi ]- 2pTai 2[ARB Bbi]T ai ; (3.11)

p.t (3.11) c viet 6 lan ,moi lan vi i=1,2,6 cho 6 pt mo ta v tr tam di ong so vi e. Trong o Bbi va ai la cac vect khong oi.

3.4 Bai toan ong hoc ngc

oi vi bai toan ong hoc ngc v tr iem chuan dao (tam mui dao) ct trong he toa o di chuyen B, ma tran xoay e a vector truc dung cu ve trung vi truc z ,

A

B

R

va v tr iem chuan dao pO trong he toa o A cho trc. Ta phai xac nh chieu dai chan di tai v tr phan tch vi i=1,2,6. Lay can bac hai cua phng trnh (3.11) ta co:

di

=

T

TT

TBBTABTAB

iiiiBiiBii

pp+b.b+aa+2p.Rb-2pa-2Rb.a

(3.31)

ng vi moi v tr be ,co hai nghiem kha d cho moi nhanh. Tuy nhien di ch lay gia tr dng. Khi nghiem di la so phc , v tr nhanh di ong la khong the at c .

3.5 BAI TOAN ONG HOC THUAN

oi vi bai toan ong hoc thuan khi ta biet chieu chan di vi i =1,2,..6 , tm vect v tr p va ma tran quay ARB cua tam di ong . Vect v tr co ba an vo hng , ma tran quay co 9 an vo hng . Tuy nhien , 9 an vo hng cua ma tran quay lien quan en 6 ieu kien trc giao trong cac phng trnh (3.3) en (3.8).

Ga s :

.Goc O cua he toa o co nh at tai tam khp cau co nh A1

.Goc P cua he toa o chuyen ong tai tam khp cau chuyen ong Bi

Da vao cac gia nh tren :a1x =a1y =a1z =0 va b1u =b1v =b1w =0, phng trnh (3.11) vi i=1 se la:

di2=px2+py2 +pz2 (3.32)

Khai trien phng trnh (3.11) vi i=2,3,6 ;roi tr cac phng trnh ket qua vi phng trnh (3.32)ta c:

biu (pxux+pyuy+pzuz)+ biv(pxvx+pyvy+pzpz) +

+biw(pxwx+pywy +pzwz) aixpx aiypx aiypy.aizpz

-biu(aixux+ aiyuy+aizuz) biv(aixvx+aiyvy+aizvz)

-biw(aixwx+aiywy+aizwz) +ki = 0 (3.33)

Vi: ki =(aix2 +aiy2+aiz2+biu2+biv2+biw2+d12-di2) / 2

Phng trnh (3.32) va (3.33) vi i=2,3,6 cung 6 ieu kien trc giao se co 12 phng trnh vi 12 an so . ay la he phng trnh phi tuyen nen rat kho giai v ay co rat nhieu nghiem, cu the co 212 =4096 nghiem. V vay van e at ra la phai chon phng an nao o e viec giai c nhanh va ket qua co o chnh xac chap nhan c . ay thuat toan c chon la Newton Raphson.

* Thuat toan Newton_Rapshon giai gan ung he phng trnh phi tuyen

Xet he n phng trnh phi tuyen co n an so nh sau :

f1 ( x1, x2, xn) = 0

f2 ( x1, x2, xn) = 0(3.34)

fn ( x1, x2, xn) = 0

hay co the viet di dang ma tran :

f(x) = 0(3.35)

vi x=[ x1, x2, , xn] T va f= [f1, f2, , xn] T

Thuat toan Newton_Rapshon giai he phng trnh (3.34) hay (3.35) la mot phng phap lap trong o ta se xay dng mot chuoi cac vector x(k) co bieu thc hoi qui nh sau :

x(k+1) = x(k) Fx 1 ( x(k)) . f(x(k))(3.36)

Vi Fx la ma tran Jacobi c nh ngha nh sau :

Fx =

111

12

222

12

12

n

n

nnn

n

fff

xxx

fff

xxx

fff

xxx

Fx 1 ( x(k)) la ma tran nghch ao cua ma tran Jacobi tnh tai iem x(k)

f(x(k)) la vector cha cac gia tr cua cac ham so f1, f2, f3, , fn tai iem x(k)

Ve mat hnh thc co the coi (3.36) la bieu thc hoi quy tong quat trong khong gian n chieu. Ngi ta chng minh c rang neu gia tr ban au x0 (u gan nghiem phai tm th x(k) se hoi tu en nghiem ung phai tm khi n ( + ( . Trong tnh toan thc te, qua trnh lap se dng lai khi ta nhan c nghiem gan ung at o chnh xac yeu cau, tc la ( f(x(k)) ( ( ( (( la o chnh xac cho trc).

Ngoai ra con phan tch ong lc hoc va o cng vng co the tham khao them phu luc nh kem.

6/ C th v ti u ha:

Cac may gia cong ng dung nguyen ly Stewart di dang c cau Stewart mang au dung cu di chuyen trong khong gian theo phap tuyen be mat th ket cau may cong kenh va phai lam u dao rat ton kem. Mot hng nghien cu khac la ng dung c cau Steward cho ban may mang chi tiet con bo phan mang dung cu co the tan dung t may phay truc ng.

Hnh 1.2: may phay CNC 5 truc ao vi ban may di chuyen 6 bac t do trong khong gian, truc dung cu co nh.

CHON KET CAU CHAN HEXAPOD

e thc hien nguyen ly chuyen ong la thay oi chieu dai cac chan theo phng doc truc thoa man cac tnh toan v tr, ong hoc va ong lc hoc, xin e ngh 2 phng an ket cau chan .

7.1.1 Phng an 1

ong c so 3 truyen chuyen ong en truc vt me bi so 7 bang khp noi truc 5, ai oc bi 6 va ong trt 8 trt trong ong dan hng hnh vuong so 5 bien chuyen ong quay cua truc vt thanh chuyen ong tnh tien cua ong trt 8 lam thay oi chieu dai chan, chan noi vi gia va tam di chuyen bang hai khp cau so 9 .

7.1.2 Phng an 2

ong c so 1 truyen chuyen ong en truc vt me bi so 5 bang khp noi truc so 3. ai oc bi 4 va ong trt 7 trt tren hai thanh dan hng 6 bien chuyen ong quay cua truc vt me thanh chuyen ong tnh tien lam thay oi chieu dai cac chan.

Phan tch u nhc iem va chon phng an thiet ke

-Phng an1:co u iem la ket cau nho gon, ca be mat lam viec eu nam pha trong ong dan hng nen thuan tien cho viec bao quan nhng co nhc iem la kho che tao ong dan hng hnh vuong theo ung yeu cau ky thuat nh o ong tam, phng phap gia cong, o bongdung sai

-Phng an 2:u iem la de che tao, de thao lap nhng co nhc iem :ket cau cong kenh hn,kho bao quan va ve mat ong hoc th thanh phan quan tnh ly tam tang.

Qua phan tch hai phng an em quyet nh chon phng an 2 v no phu hp vi ieu kien ve trang thiet b cong nghe cua Viet Nam.

7.2CHON C CAU TAC ONG CHO HEXAPOD

Dung kh nen e ieu khien.

Dung thuy lc e ieu khien.

Dung ong c bc truyen ong qua truc vt me ai oc bi.

7.2.1Dung kh nen

Do yeu cau at ra oi vi Hexapod la can o chnh xac cao, kh nen th khong chnh xac bi o co gian ln khi thay oi ap suat va nhiet o do o kh nen khong phu hp cho viec dan ong Hexapod

7.2.2Dung thuy lc

Thuy lc chu tai ln nen lam viec vi cong suat ln, cac ket cau thuy lc co o cng vng tot, nhng han che ve toc o . Neu ap dung phong phap ieu khien nay, chang han dung dau ep cho Hexapod th no cng vng ve ket cau va o on nh cao.

7.2.3 Dung ong c bc e truyen ong qua truc vt me ai oc bi

7.2.3.1 Dung vt me ai oc bi

Hau nh hien nay tat ca cac may CNC truyen ong cho ban may bang truc vt me ai oc bi cho ta o chnh xac cao, o cng vng tot , dan ong em va lien tuc, Ngoai ra co kha nang t ham, hau nh khe h bang khong

7.2.3.2 Dung ong c bc

ong c bc cong suat khong ln, ham khong tot nhng co nhieu loai, gia thanh khong cao lam, at o chch xac cao. Co kha nang truyen ong tnh tien va chuyen ong quay. Thch hp cho mo hnh nho.

ay nghien cu Hexapod thien ve may gia cong e thay the may phay 5 truc, nen vi trnh o phat trien va kha nang cong nghe hien nay nc ta th Hexapod con la e tai rat mi, Vay ta chon piston thuy lc c cau tac ong cho Hexapod.

7/ Thit k chi tit:

7.2 THIET KE KET CAU CHAN

7.3 B iu Khin:

B iu khin song song thit k da trn gii thut gi lp song song t my tnh v giao tip vi my tnh thng qua Slot chun ISA. T m bo tnh nh v kh nng qun l cc khu ng hc c lp th ng vi tng khu yu cu phi c a ch ring, ngoi ra phi c kh nng m rng port iu khin v gim st qu trnh iu khin.

Chng ti la chn IC 8255 lm nhim v qun l v lp trnh iu khin cng nh xc nh 6 a ch port v iu khin cho cc khu ng hc (hnh 3).

3. GII THUT IU KHIN GI LP SONG SONG

Trn cc h thng lp trnh song song, khi thit k cn phi m bo cc c tnh nh: kh

nng m rng (scalability), kh nng hot ng cc b (locality) v c tnh module

(modularity).

- Tnh ng thi l kh nng thc hin nhiu hnh ng ng thi, thc cht l

chng trnh thi hnh cng lc trn nhiu processor.

- Tnh m rng nhm t c vn quan trng l ci t chng trnh mt ln, nhng

c th hot ng trn cc h thng khc nhau khng ph thuc vo s processor. Ni

cch khc, chng trnh c th ci t m khng quan tm n s processor s thi hnh.

- Tnh cc b c tho mn th chi ph ca thut gii gim ng k bi vic truy cp n

d liu cc b xy ra thng xuyn hn vic truy cp n d liu xa.

- Thuc tnh modularity c mong i ging vi s mong i trong lp trnh tun t.

y chnh l s phn chia ca nhng thc th phc tp thnh cc thnh phn n gin

hn.

Phng php thit k gii thut gi lp song song c th c xy dng nh mt tin trnh

thit k tng qut qua 4 giai on ring bit :

- S phn chia: Vic tnh ton c thc hin trn nhng vng d liu nh hn v cc

thao tc c a v thnh nhng nhim v nh hn.

- S thng tin: Xc nh cc cu trc v thut gii truyn thng gia cc nhim v c

s hot ng ph hp.

- S kt hp: Nhim v v cc cu trc truyn thng c xc nh trong hai giai on

u c nh gi i vi nhng yu cu ca vic thc hin v chi ph ca vic ci t.

Nu cn thit, nhng nhim v kt hp li c nhng nhin v ln hn t tng hiu

sut thc hin hoc gim chi ph ca thut gii.

- S sp xp: Mi nhim v c gn n mt processor sao cho tn dng ti a s

processor v ti thiu v chi ph truyn thng.

Nhng c tnh c yu cu cho vic thit k cc gii thut song song v ng thi 4 giai

on trong phng php thit k gii thut gi lp song song l c s cho vic thit k

chng trnh iu khin gi lp song song c ng dng cho m hnh song song Parallel.

Robot. Chng trnh iu khin gii lp song song c thit k trn nhng ng dng vi

mi mc ng dng l mt chng trnh iu khin cho mt c cu chp hnh nhm thc

hin mt tc v c lin quan, l thay i chiu di ca cc chn nhm nh hng, v tr

ca tm di chuyn trong khng gian.

Trnh t cc bc tin hnh cho vic thit k chng trnh iu khin gi lp song song

theo c ch phn chia thi gian thc nh sau:

- Xy dng m hnh ton hc nhm xc nh thi gian thc yu cu ca tng ng dng

- Kim sot h thng cc d liu lin quan n tng mc ng dng v ng thi t chc

sp xp trnh t yu cu ca mi mc ng dng

- Xc nh bit a ch tng ng vi trnh t yu cu ca mi mc ng dng

- Tin hnh phn chia khe thi gian tng ng vi trnh t yu cu ca mi mc ng

dng, nhm p ng kh nng song song ho cc chng trnh iu khin ca mi mc

mg dng.

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EMBED AutoCAD.Drawing.15

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1-e co nh 2-Khp cau 3-ong c 4-Khp noi truc

5-Ong dan hng 6-ai oc bi 7-Truc vt me bi

8-Ong trt 9-Khp cau

2

1

3

4

5

7

6

8

9

1-Khp cau 2-ong c 3-Khp noi truc 4-ai oc bi

5-Truc vt me bi 6-Thanh dan hng 7-Ong trt 8-Ga di chuyen

1

2

3

4

5

6

7

8

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