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Q.jY+$*OUH+U "
Q."j-/(Z%DUH+UE.1,J "
Q.&j-/(Z%DUH+UE.1%J "
Q.jD)KY?q/UH+U "
Q.jI?G/?q/UH+U "
Q.ijY5m/.?q/UH+U ""
Q.2jQ6O/UD)aUH+U "&
Q.VjY)r*sm*/UH+U "
Q.jD(W0t*()*+*. &
Q."j#$60D;=M*/.YbcdH/ &
Q."j@)AO?9'"Ve"V V
Q."jY+Of:=a/<H 
Q.""j@)AO6O;UH+U@/0 

Q."&j@)AU=a+0D;KY@G// "
Q."j@)AH%59;@G/ &

Q."j@)AH%?6\@P 
Q."ij@)AH%?6\@P"i& 
Q."2j@)A1OH%; 
Q."Vj@)AU=aH%;u i
Q."j@)AU=aH%;u0 i
Q."j@)AU=aH%;u 2
Q."j@)AU=aH%;u? 2
Q.""j-UH+U&0M ?@/0I\P" V
Q."&j-50D;UH+U V
Q."jY/B0/0D; 
Q."jY+H%59;D)9G/ 
Q."ij00D; 
Q."2j-U;108-GP*G? 
i
R3S,
Kb.\c)34
-/4+/.56*k6%k($]6,
111%+/056*;,?9TfkHDg
/4/]06=/%DM*1(6U`6 
Dk4+/.9Tf$9 kH+/09v=HCTCHH
?w6O9Tf]C=(W9T*xH06=k;=H
TH+9T*xH;Ca%/y/]/056*z
kHDaC4/+=kk;=H6/{H5/(Z
m6H(Z5;H(W(jH5/(Zk
0]H5/(ZD%k]H5/(Z6D|
Q6U]/1$ck/,,?/04+
/.9Tf(+/0/H+U9Tf55]/0=m*H+U]/0

(Z}H]/0**5/+H+U51)a]/04U
HG//+9<MD]/0 D<|-U~`6yH
.6,1%/0H$~%0m}]U1?•=%~
H,D1:]€HD9Oa(WU;4+/.9TfY+/0
U(kaa,$H5/(ZU3HU1%DG
()/.8/($
\0@/0I\P"=+U/056*?cXG=G1%k
CH0M ?PHD0D*M?<UUa6He@?q;?U;
+9T*xH/?<UUQ6%+U@/0I\P"%*za
6H\0EKV&JDF6P-`-5%D(W]*}HH
?/G/;/0c1%9:?+?}}1
O$+108*za6H*+Ha ]=H
A+H5]A+O6*9*+,
+$9O=(W+=$Kk6,1%108
;UH+U@/0I\P"=19,}1
2
IL*.'(,*>734.@'
M*/,)9~=aU1]%*},]U=a%
DUH+UCH0M ?@/0I\P"]+a=H6\0
-/)9~k,= =%108*qW*]1%*},
/0D11*}HH;6O]=m*/+*€108
Zd)%&e75&07&f*\@.&g*.'h)*>734.@'
F14T,=)9~+($,H~/D]<
)tHO(k%D/B*
F14Tk;9:?/T?%U],/0,
?4+/.x089Tf/ 1
Q6UH+UCH0M ?(W9:?Ha%6U/
5?/1$F14Tk**}6*+/;,
\0U~`6yH]tHHa*5+%,
~/(ZQ#-5`M-T-'QAYa

='['&/)34.@'
-/ 1]UH+Uk/=%+](W 6/
HDTZm€1/UH+UCH0M ??q/
,]%(+*?U/9Tf
Q&BC)%`&:`)%&'()*+,
-111%H5.k0D;UH+U@/0CH0M ?
*4+/.H5.k 6HH**B9D
; D
'()*+*HT=6j-=6/056*]=6T
M;]f:=g|
V
'()*+* 6Hj-a+= ]=m*+108] 6H
;+$*O/UH+U

&BC)%KA%&'()*+,.U)%V,7)
KKP)&&P)&)%&'()*+,;010..;0)%)B[*\@.;().&-%'['
-M{\0f6CH2](9 *+/;/05
6*€0m}O{CH2"V\056*0}(W
?q;U;T+M=6U;H](W?q/+H;H5]
9k(W?q/ Dk=%YOCH2"V])*
aP*f6;U;T+M=6*kf%Y)a(W(Z
($?L+])*9[*U;D)a%+8/a
•fyUU]- D+=HD/{•M*+
/;H%Hv]1W*q9 *+/;565y
,?56(W,?/D/c/= Z
9OfcD06/+?<UU9Tf56*]+UH+U
(ZH+Uc(W9:?/D/ctHU19,=D(Z]
k**}<C9]=(WTH+9T*xH
Kk]/?!4O1/z\09c(WH%j
‚-/($<U(Z/0=HD*()6;16H*a=D]1

(\09UUck/z4/)/9Tf]B=
HD*}1%%/}ƒ-/()=}/0}M
,0T<H.„(H5/(Z;(Z0%A$
(Z]Uj‚g,H+UHkƒ== H$-•k*T=H9
/0 +,f:]01…•{99kH.]z…+
0m},= U
`O{CH2&V])=M*/.0m}f6(WT1
=a4//056*=*OW*0D;? 
/H+Ua0Df:=g$+TH01A1*;%(WTC=M*
/.,C`{CH2V])*/0(W/086
O8++0DTH0106kaCH5*…+4
(Z]„kTC 6+5%=m*/+*)T

-/{CH2iV]/056*ck0($*+/;H%Hv]?
+U} Dk=%1/+H;H5
5655`}CH22V]5U~Nm•]Y<†yMNT
c9:?/D/c/0/= 56*
y{CH}<U]/056*U1(W?q++=*
=*=%=}/+H5/(ZU;H-OD*+/;/0?8
CE/CHVVic0+2"VVV9T*xH=%/0B0<5
EH=G/09J)VVVH+Uf[…E=_H/09JJY+=%
/0/WB*B*(ZU1Mz()Oa]+=%/0?U;+
</0]+H9+C
y}*+/;/0<6(Z}(}U1/
(Z*+/;($yM-%*za6H%G‡E%5
-U]yMNTJ]+c1%/0k5H0t9k
TCH5*…9+/%+)0T.THjM?{]9Wc]0A0c]
9($]%CH*L%d9*+/;=%/0<6
$/wGH]=%UH5*…U;D+GH…01*T,$<H
@T'xHRXNdER/ˆ=XG==GG\0Jk.?+0

O=kkTC?U;U3:€Y5U@G-U
yMNT9Tf=%IREIG/=?GR=‰JkTC;6
.TH(HD(Z @T'xHR@Xd=?%/0O
(Z]9:?56P_="0M ?+$*U;D5
+06HU9$(Z
`6F56Q4OEFRX@-J 61O6O
c<%/0]6}<%=HD*}HHE(W=@0J
G;/Bc(ZkH?=G 6+,CTHM]
M,0OT]./%0/j0D$]0D*M~D/4U1
8D`656QŠOEFX@-J1%/0O
(Z]=%Uk;„=H{56/EBk;
0m($%D(ZJ

y/]/0*+/;H%*/4O*zj($•
f*+/;56+6O5k(Z;1%/0
„a(HD9O($jY?]QŠO]-/ŠO]y]‹D]yH']
@*/GŒX9/G=|y/]/0/*+0HH.k6H*+63
Z0D*M;H9+q.TM(WHG/y($•=($
*/= /0*4O*zc/Z
=%+*()6/108H$4O*zjH+U0U4<9 
5(Z=+@_0=?G]fG4<9 5(Z=+km10888
}E(W-G//fJy($y=($}/6*+/;
}H] D5}(Z=+
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/05H]5€=H6/;)T/aHz
Ha1=(W/56*Ha4O*z
•($]/M*4]..,?/0k{U3=$
y?6**TM*+108/0/?<UU9TfK
} 1/(MU]z…*T,%+6O/0
;*+/;U~($

-/(Z%N+FQyD=HD/<H,%
/0]$9T'xH*0TD=D]%+0D•MY+
9T*xH}<U(/0H5*…9E/0\']/0\'@J]/0@/]
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-/(Z%N+F-*QY„=)8*+/;H%
,%/0]06/= %/;,?
`6- DQ+F•-MŠ<@ ]`6,6-:P-Q
- DQk]`6Y5y6-5-E FQ-y&YyŠ#J={)8
xUH%/;,,?/0
Y+9T*xH)6:(/0+kH,c(9:
? 6H%HD9O)9~9Tf56*?8j/0%C
*4+/.5=U6]/0]UH+U*/?<UU9Tf
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U9Tf]=m*/+*fGmH+U55]/0kk|
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hG/9=\0‚F/=Y*G-G1@[./0=(Z=H%*?8
-/+*xHU<M\9H/5c%/{1H+U}
O((Z;}%(Z
Q)VCH9]($H)!(~F/G=Y*Gc0m}6 
yU91/1$=},]~•cf6{UH+U[*.
;•f]/+*za6H*kf%yCH2&2]KG=
IG=0G/c1%\056*}%5UhH
yCH2yMNTH$M*1/056*}•5URe
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3=A(Q]909Q?c(/8/(Z=%/03
1y{/0} =9 O1{+<)a)
;•f$TC=M*/.H+U5;9O

-•{CHV]6,<aC/0cBg
19 =m*H+TH01%a6;M01H5/(Z=H6
-%/(Z%3W*@ˆ/?](Zc%/=%/0=m*/+* D
;0ta/)9~f:=g5•+TH01= 8+
`ZU5UXNc1%/0k+TH01fB+TH
01= ;0tH+Ua;=m*/+*+H+UAHVH1
y{CH2V?+*?/D/c+10Df:=g5
65]9O=(W/056*cC]+TH/•/6]
aCck0($1(W0MyZMU/056*ck8/a
4//+?<UU9Tf6%yUU]U
,/0‚\09ƒc/~HD= /D/]
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0AH+/B)D]D= ]=M*/.4•%]TH
01a6];U;D|
Yk;k]/0=9 3W*TC%D=%+)
;•f$H,D‚/,ƒU**B6O;
G()/.9O„(•M1%+0DTH01]56=M*
/.+*+/;/a5<%]6U
-/{CH9U]6<aC%D/05
•*+/;Y+/0(W/08H+=%TH01+;
M01H5/(Z4]q${ =$/= 
-P6:c%/+16/0$aCC06]@O=(W
/0UC]+UTHyZMU]/056*c
k8/a4//+?<UU9Tf6%
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- Phân loại theo chủng loại, mức độ điều khiển, và nhận biết thông tin của tay
máy:(ZH+Uc(W9Tf/1$k;*<=%+X\+1
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-16j-16k;;Gp?%()/.,5
kTCM015

-16j-16k;Gp?%()/.HH0($}c
kTCM015
-16j-16k;?%5]kTCM01
50($}ckHD9O,C=g/a(Z
- Phân loại tay máy theo cấu trúc sơ đồ động:
-5(Z/B*UH+U56*(WH5.k
/?%•D$+<+$*(/U=gH+U$+
TU1)0T9j
PY€9:?+$*D=%&E$*4U]$*81]$*aJ
P-/4U($81+$*.99U5k$
PY•D€=•D~)T

\056*/**B?%]k;(W*<=%G++
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PY/BU;D0DE<(ZJj/BU 6U;
DGH0DUH+UEU(ZJ18/a=H6Y/BU19,
?%5(Z15*T=UH+U%D/6OH
U;DU}k9 ;H9+y(Z(ZUH+U=,U]
<V=+O8UH+U
PY/Bf+80r*0AH+$*R]Ne+<]]
U;D/BUGHG0r*$8/a=H6KT1
=%$*D?q/1%H+U5(Zk{*OW*9<U
+$*•k%{/Bf+88/a0r*/+
58/a+0Tr*'OW* =$*=$*
81HD$*4U<U=/B%D/6%DP+9$
+%D@.;HtH/<$*=$*81HD
U;D4UE,=%D?J
'OW*-\-]\ ]U \=HD$*81$*4UE+
/B]]"J<U=/B%D/6%D/9$;H
/<(Wf+80~U;D81HDU;D4U

E,=%D?HD%DOJ
'OW*\-\]\\-] \=$*81$*4U<U=
/B%D/6D}9$6@].;H/<(W
f+80~HDU;D81U;D4U
'OW*\\\,=$*4U]<U=+/B%/%Dk9
$6@].;H/<(Wf+80~0U;D4U]/B
U(W=/B*…9
-U/ 1]O$+UH+UU?qUH5+
06TH0T++}(UH+U*](Z5
1=B„*T1%UH+Uk9O0$*D/Bf+8
8/a

O$UH+U56*ck)&V=%]/9Okk)"V‘==%
UH+Uk;)TD16,
@ f6X\9 C/zB/9TffcD
=(Z=Hf6HDH$=\0E\09J
-/1$Zcf6{6,/\0
- Phân loại theo kết cấu :
-G1UH+U(Z*</0;%DP+];%
D/];%D}];%Dk]/0;@YR\R
- Phân loại theo hệ thống truyền động :
Yk+?%/UD*301=j
Q6/UD6j-(Z?q+D)6EKYj?/G
//GJ+D)0($E9G*H/J7%/UDU?!;]
1
Q6/UD’= jk;%(W59]+*,{
6=H6-U6OU= (Zk1A]A
%D*U1=$kf:=g;
Q6/UDa[jk1r)?5}?L(W(
=%*Tm=$/<H%/a[Q6U=H6$59/

0.…][Haf+](Z€aW*$+/0%DG
()/.89l$++)T‚=PfOƒE'?
'=G/'-'j'-'J
- Phân loại theo ứng dụng :
K ,?/0/9Tfk/09)]/0]/0=m*
/+*]/0U;*5
- Phân loại theo cách thức và đặc trưng của phương pháp điều khiển :
Yk/0;~EH%;5k+46*TAJ]/0
;aEU;9G/Jj9:?TH01]H%*TA;CD
af+H,D=%;
i
y/zk;k++*<=%+pG4;HHa
,
KIZ)%mL)%*>7;010.
\0(W9:?/D/c/56*+Yk;
*<=%,?56*/0=H+= ajMU;]0O
?“M=6]5]=m*/+*CH?z+,?+
- Ứng dụng robot trong vận chuyển, bốc dỡ vật liệu:
-/,?MU;]/0k6H?U;O(W•8/aU
18/a+y6HU/0 60~++M
;\01~HD8/aU;?Z1HD8/a+\0k;
m*HD1~HD8/aO8/HD0CTU;D
~HD8/aO8+/HD0CT+U;D$
8($1\0kTC0Of1*MU;+1k.
?%a($+Z+5x=(/{/0D$
/09:?+TH01;M?%+1 
- Ứng dụng trong lĩnh vực gia công vật liệu:
-/56*5M=6]/0 66H(HDH+U
5KkU/09vmHD?UHD)r*>?
/0/6*5M=60AH+569j;H”

A4=”9)*”565H=%|
- Ứng dụng robot trong lắp ráp và kiểm tra sản phẩm:
Y56=m*/+*==m*HD1HD0D*M+\0(W9:?
/?<UU=m*/+*5(Z~0O?%9j=m*1=•]=m*=•
1]=m*1<=•=m*Cf1*•5%=m*1
=•]/0HD1]5(Z=HDO=m*HD0D*M+Y
1k;=.//z.D*{M\09:?/=m*/+*
5(Zk&P0M ?;k;=m*af+
2
-/56*=m*/+*]/0k;%D)=w;=m*6HD
108=H6/HD?<UU]/kH•/09vk6H=m*
HD1/HD108H+U
KI=#C3n*c,.;o**&+*)p)%*>7;010.
`MU/0=.•$6U(kHD8af+/0]
,CHHD=}(Z=%3,HDD80/0]tH
5{ c%(W/,1%/0AZ
O+M{\09];;(W/0/($1B4
9+9)A/B,C/0(9j
Hình 1.1: Sơ đồ cấu trúc và chức năng của robot
-/9)A/]+(Z€HO465M]5
€U6H/0Y+(Z€HO=65(W]5
*TA4+/.=H6/0
Y,C0D*M1*===%$(ZM= 64+
/.‚?%Uƒ/0]Zk/001(W6H*T 6
Y,C6O;= 66+6=%+D
6Hc(W‚ƒ
V
ND*M*B*/0k‚9,ƒ8(WT/H/0*T
8/4+/.=H6]0D*MU0AHj
'}jND*M8U;D]*}%+TCU;D

/0
'}jND*M8= ]*}8= /0NDTH01a6j=H
6HM01]=(Z0135+=%a6(j+Da
/0T</0]k=+a68/a]MO]O]/•
*}0D*M*+%a6]=+a6•H5/(Z0
kT(~$%D/0
`$/B,C(/]/0*}Ha‚(Zƒz*}
H+Ua=/%+M=g/B
`$/0a‚(Zƒ‚H+Uƒ„(W;6}U(/]?U
/..,H?+?*U‚(Zƒ
-UH+U56*(Zk{0D*M9j
PQ6O;j(Z==%)T=H6kpMG
U=g6O;~a
PQ6O*j0AH+AD= ]6O/UD]6
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Hình 2.2: Chiều dài và góc xoắn của 1 khâu
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Hình 2.3: Các thông số của khâu: θ, d, a và α
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n
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Hình 2.4: Tay máy có hai khâu phẳng (vị trí bất kỳ)
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V
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V
U
V
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V
1d
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Bảng 2.1: Thông số DH của tay máy có hai khâu phẳng
F<
 V V
 V V
-/kn
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