Nghiên cứu động lực học và phát triển cơ cấu kẹp mềm

TR

I H C QU C GIA TP. HCM
NG
I H C BÁCH KHOA

VÕ ÌNH THÁI

NGHIÊN C U

NG L C H C VÀ PHÁT TRI N
C

C UK PM M

Chuyên ngành: K Thu t C Khí
Mã s : 8520103

LU N V N TH C S

TP. H CHÍ MINH, tháng 1 n m 2022


c hoàn thành t i:

i H c Bách Khoa-

Cán b

ng d n khoa h c: PGS. TS Ph m Huy Hoàng

Cán b

ng d n khoa h c:

-HCM

Cán b ch m nh n xét 1: TS. Ph m Minh Tu n

Cán b ch m nh n xét 2: TS. Nguy n H u Th

Lu

cb ov t

iH

.
Thành ph n H i

m:

1. PGS. TS. Bùi Tr ng Hi u Ch t ch
2. TS. Ph m Quang Trung
3. TS. Ph m Minh Tu n

Ph n bi n 1

4. TS. Nguy n H u Th

Ph n bi n 2

5. TS. Lê Ng c Bích

y viên

Xác nh n c a Ch T ch H
ngành sau khi lu
CH T CH H

c ch nh s a (n u có).
NG

ng khoa qu n lý chuyên


-

-

MSHV: 2070618
11/07/1998

TP.HCM

Chuyên ngành:

: 8520103

I.
(Dynamics Study And Development Design Soft Gripper Use In Food Industry)

II.
-

.

III.

: 6/9/2021

IV.

: 12/12/2021

V.

:

-

:
:

022


L

Th y PGS.TS Ph m Huy Hồng và Cơ

tr ,

ch b o tôi trong su t th i gian th c hi n lu
Quý Th
B n

ih

t tình truy n th bài gi ng.

c Thi n và Lê Bá Du

n cho lu

này.
Ba, m

tr và ng h tinh th n cho con.

Anh Phan Chu T n và t p th các b n h c luôn ng h tôi trong su t th i gian
nghiên c

n khi hoàn thi n lu

i


TĨM T T

mm; 80

mm, 69

là 85×20×18mm

ii


ABSTRACT
In the food industry, particularly small and medium-sized enterprises, high-cost
automation lines and complex robotic systems are difficult to apply as simple and lowcost systems. In addition, for food safety reasons, pneumatic drive systems are more
suitable. Therefore, I designed a set of soft grippers consisting of four soft fingers. The
soft gripper integrates two types of structure, which are perpendicular to pick up roundshaped foods and parallel shapes to pick up rectangular-shaped foods. At the same time,
it is possible to change two levels of the soft mechanism which are 60 mm; 80 mm
perpendicular, and 34 mm, 69 mm parallel. Soft fingers made by die casting method with
the material is Platinum Silicone being commercialized in Vietnam. The mold is made
using 3D Printing technology. Each soft finger is designed in the form of PneuNet
(Pneumatic Network) which is a network of 12 chambers in series with an overall soft
finger size of 85 × 20 × 18 mm (L × W × H). Finite element simulation to check the
design response of soft structures. Building a dynamic mathematical model of the soft
finger. Experimental tests assess the bending motion, the force of each soft finger, and
the ability to grasp different foods.

iii


L I CAM

K2020

iv

M CL C
.................................................................................................................i
......................................................................................................................ii
ABSTRACT ................................................................................................................. iii
.........................................................................................................iv
...........................................................................................vii
........................................................................................... x
1.

.......................................................................................................... 1
1.1.

....................................................................................................... 1

1.2.

.................................................................................... 3

1.3.

.............................................................................. 3

2.

................... 4
2.1.

................................................................................... 4

2.2.

...................................... 6

3.

.............................................................................................................. 11
3.1.
3.2.

4.

Thi

........................................................................ 18
.................................................................... 20

4.1.

....................................................................... 20

4.2.

............................................................. 31

5.

.................................................................................................. 35
5.1.

............................................................. 35

5.2.

............................................ 38

6.

7.

..................................................................................... 11

............................................................................................................... 40
6.1.

...................................................................................... 40

6.2.

............................................................................... 44
.................................................................................................... 46

v


7.1.
46
7.2.

................................................................... 48

7.2.1.

........................................................................ 48

7.2.2.

......................................................................... 53

7.2.3.

............................................................... 57

7.2.4.

................................................................................ 58

8.

............................................................................................................ 63
8.1.

........................................................................................... 63

8.2.

.................................................................................. 63
....................................................... 64
........................................................................................... 65

......................................................................................... 69

vi


DANH M C HÌNH NH
............. 1

-khí [9]. .............................................................................. 4

....................................................................... 6

.............................. 11
...................................................................................... 12

.................................................................................................................. 13

-

-B. ... 16

......................................... 17
......................................................... 17
............................................................................. 18
.................................................................................................... 19
.............. 19

................................................................................................................... 21
............................................................... 25
......................................................................... 25

vii


....................................................................... 28
........................ 28
.................................................................. 28
................................................................................. 29
................................................... 29
............................. 30
...................................................... 31

................................................ 32
.................................. 33
..... 34
............................................................ 35

xiên. ....................................................................................... 40
......................................................... 41
..................................... 41
...................................... 42
............................................................................. 43
........................................................... 43
........................................................................... 44
.................................................. 44
............................................................... 45

........................................................................................................................................ 45
............................ 46
......................................... 48

....... 48
................................................ 50
viii


........... 50
................................................... 52
............................ 53

............................................................................................................................. 56
Hình 7.9

........................................................................ 57

.............................................................................................................. 58
........................................................... 60
............................................ 62

ix


DANH M C B NG BI U
.............................................................................. 15
....................... 21
................... 22
................................................. 24
........................................ 33
................................................................. 47
................ 49
................................................................ 53

........................................................ 55

........................................................................................................................ 59
........................................................... 59
....................................... 61
............................................................ 61

x


1. T NG QUAN
1.1.

tv

.

Hình 1.1

[1]
[2]

[3]

1

[4].


2

ghiê

1.2.

[5]

M c tiêu c a lu

1.3.

ày.
3


2. KH O SÁT, PHÂN TÍCH, L A CH

2.1.

Cách th c truy

TK .

ng.

Hình 2.1
kim [6],

[7]

[8],

-khí [9].

-

-

4


d

s

5


2.2.

Các thi t k

u m m truy

ng b ng khí nén.

Hình 2.2
[10]

[11]

[12]

[13]

[14],
[15].

6


ình
[16]

[17]

túi

,

t

[11]
7


Flexible microactuators)

giãn, có ba

Elsayed và
[18]

nhà nghiê
[19]

8


h
[20].
Sa

g

[21]

With [22]

[23]

-Soft Pneumatic

[24]

9


10

3. THI T K
3.1.

Thi t k

um m
ng

[22]

a

[25].

Hình 3.1

g

[26].

Hình 3.1.

và (b).
11


Hình 3.2

u

áp

(B

(1)

g

c các v t m m ho c d v , c

(2) Di n tích m t c t ngang c
(3) Thi t k
(4)

ng t

g p v t.

u m m sao cho phù h p v i ch t

tránh rị r khí t
m m, c

ng d n khí ph i l n

u ph i càng m m càng t t.

mb

ng liên k t gi a các chi ti t khác nhau c

di n tích liên k t.
các

khí

12

u