8/14/2019 BO CO H thng cm bin trn Robot

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H thng cm bin trn Robot

1.Kt cu chung ca mt robot

2.Vai tr ca h thng Sensor

Thc hin vic nhn bit v bin i thong tin v hot ng ca Robot v ca mitrng i tng m Robot phc v . Cc thong tin t trc sensor s c avo h thng iu khin , sau khi x l bng my vi tnh ri tc ng vo hthng truyn dn ca tay my .

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PHN LOI SENSOR

Phn li theo phm vi ng dng

Sensor ni tn hiu ( Internal sensor )

Sensor ngoi tn hiu ( External sensor )

Phn loi theo dng tn hiu cn nhn bit

Sensor lc

Sensor gia tc

Sensor v tr

Phn loi theo cch thc nhn tn hiu

Sensor kiu cm ng

Sensor in dung

Sensor in trSensor in quang

SENSOR NI TN HIU

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L loi sensor thu nhp thng tin v v tr ,vn tc,gia tc,lc tc dng trong cc bphn quan trng ca Robot .Cc thng tin ny l nhng tn hiu phn hi phc vcho vic iu chnh t ng cc hot ng ca Robot.

Cc loi sensor ni tn hiu :

1. Sensor v tr kiu chit p2. .Gia tc k

3. Sensor v tr kiu bin p4. Sensor in t5. Sensor in quang6. Sensor lc

SENSOR NGOI TN HIUL loi sensor cung cp thng tin v i tc v mi trng lm vic , phcv cho vic nhn dng cc ct xung quanh thc hin di chuyn hoc thao tctrong khng gian lm vic . lm cc cng vic cn c cc loi sensortn hiu xa , sensor tn hiu gn ,sensor xc gic v sensor th gic .

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Sensor xc gicSensor tn hiu gnSensor t camSensor HallSensor in dungSensor siu mSensor tn hiu xa

SENSOR V TR KIU CHIT P

Nguyn l hot ng: y l loi sensor v tr kiu in tr thay i theonguyn l chit p rt quen thuc. S nguyn l dng c bn v dng btr mch thc t nh hnh v:Quan h gia gi tr in p u vo v v in p u ra V:

v = V.r/Ru im: gi thnh thp, bn s dng tng i cao, tuyn tnh cao.

Nhc im: Lm vic tin cy vi tc thp, cht lng ch tip xc cab phn trt c th gy nhiu v giam nhy.

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ng dng: Loi sensor ny c ng dng rt rng ri trong xc nh

dch chuyn gc ca cc trc quay ca robot, t vi phn bc nht ilng dch chuyn ta c vn tc gc, vi phn bc hai i lng dchchuyn ta c gia tc gc.

Vn tc kNgy nay, phm vi s dng vn tc k (tachometer) v gia tc k(accelerometer) tr nn thu hp, thng dng hn l xc nh theo s gia cacc thng tin cm bin v tr bng k thut s hay k thut vi mch. Cchlm t c chnh xc cao hn v ngy cng r hn. V ngi ta thngdng cc thit b sau thc hin chc nng ca vn tc k:Pht tc dng mt chiu. Khi stato c kch t to nn t thng th trong

cc cun cm trn stato c sut in ng t cm vi gi tr trung bnh t lvi gc quay ca roto.Pht tc khng ng b dng xoay chiu: khi dng xoay chiu chy qua

cun dy s cp ca stato thi in p trn cc u dy cun th cp ca statos c cng tn s, bin v t l thun vi vn tc gc ca roto.Pht tc ng b: Nam chm vnh cu trn stato gy dng in cam trong

cun dy ca stato. Tn s v gi tr in p ca n t l thun vi vn tcca roto.Pht tc xung: a quay c khe rnh t trc ngun sng to ra cc xung c

tn s t l vi vn tc gc quay.

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Nguyn l lm vic: hot ng theo nguyn l ca mt bin p sai ng(differential transfomer) li t chuyn ng tng i so vi hai cun dy cnh v lm vic thay i dng cam ng gia chng.S nguyn l bin p xoay: Roto c mt cun dy, stato c mt hoc

mt vi cun cam ng ng b.Url in p cp vo Ur= U sintUs1, Us2 l cc in p cam ng xut hin trn cc cun dy ca stato.

Us1 = kUr cosr sin( t +)Us2 = kUr cosr sin(t + )

K l h s bin p. l lch pha.T y ta xc nh c gc r

Do s bin ng ng b in p lm giam chnh xc tnh ton bi vyngi ta thng s dng phng php giai iu bin ng b (SynchronousDemodulation) trn c s i chiu vi tn hiu chun (khng trng vi inp cp vo) v s dng kt hp b bin p xoay vi b bin i in t s nng cao chnh xc.u im ca loi ny: lm vic tin cy, chnh xc v ph hp vi dai rngvn tc quay. (n 9000 vg/ph vi khng dng tip im)

Nhc im ca loi ny: i hi chnh xc cao v ch to v lp rp nngi thnh cao.

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ng dng: loi sensor ny c dng nhiu trong cc robot SCARA, Robottr, Robot cu, v mt s loi khc.

Sensor in quang:

Nguyn l lm vic: (s ) gm cc a (vi trng hp quay) hoc cc thc(vi cc trng hp tnh tin) c vch ti sng u nhau. Mt bn t ngunsng 1, mt bn t cc quang tr 2. Do thay i v tr tng i ca cc

phn t c nh nn tn s v lng nh sng lt vo quang tr cng thay i.Tn hiu qua b khuych i 3 v to cc xung, t suy ra dch chuynhoc vn tc.

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Phn hai loi chnh:Sensor m ho gi tr tuyt i

(absolute encoders)Sensor m ho gi tr s gia

(incremental encoders)Loi th hai c dng ph bin hn vi gi thnh ca n r hn.

Tn hiu u ra ca cc loi sensor ny l tn hiu s nn rt thun tin chovic ghp ni vi my tnh x l tn hiu m khng cn b chuyn iA/D no i km.ng dng: c dng nhiu trong c cu o vn tc, gia tc, hay d ng cacc loi Mobile Robot.

Sensor lc:Ch yu dng nhn bit lc xut hin trong khi lp rp cc chi tit my.i khi nhn tn hiu lc trong cc khp ng.Thng c lp trong cc khp quay, khp c tay, hay trc tip trn bn kp.

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Sensor xc gic

Dng nhn cc thng tin v s tip xc ca bn kp vi i tng, nhngthng tin bao gm: v tr, hinh th ca i tng hoc lc cn kp ...

Sensor tn hiu gnCng dng: Dng xc nh s c mt ca i tng trong phm vi khnggian ngay st bn ch thao tc kp vt hoc di chuyn vng qua chngngi ...

Phn loi: Sensor loi ny gm cc nhm sensor+ Sensor t cam: y l loi sensor hot ng theo nguyn tc thay i tcam khi thay i c li gia cc vt th kim loi v sensor. nhn c tnhiu ra t sensor loi ny cn c s chuyn ng tng i gia sensor v itng.

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+ Sensor Hall: l loi sensor hot ng da trn nguyn tc ca hiu ngHall l hiu ng lin h in th gia 2 u dy dn hoc bn dn vi ttrng.

+ Sensor in dung: C kha nang pht hin c tt ca cc vt th rn cngnh lng. Nguyn tc nhn bit cc vt th qua s bin i ca in dung phthuc vo khoang cch ti vt th .+ Sensor siu m: Loi ny vn vt liu ca vt th khng anh hng gi

n nhy ca sensor.Gii thiu mt s loi sensor

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Gii thiu mt s robot octopus (bch tuc)

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Ti liu tham khao[1] - K thut Robot. PGS.TS o Van Hip.[2] - Robot Cng nghip. PGS.TS o Van Hip.[3] - Robot Cng nghip. GS.TSKH Nguyn Thin Phc.[4] - Robot Builders Bonanza. Gordon McComb. McGraw Hill.[5] - www.google.com.vn

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