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

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^

Ha noi - 2010


Tl

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2 .

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L PHAN MO DAU
1. Muc luc
I.
PHAN M 6 DAU

ii

1.

Muc luc

ii

2.

Danh sdch nhiing ngudi tham gia thirc hien de tai

iv

r

3.

Danh muc ode b ^ g so li?u

v

4.

Danh muc ode hinh

vi

IL

PHANNOI

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

DUNG CHINH

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

3

Muc tieu, Noi dung va ket qua nghien cuu
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
3.4.1. Phan tich cac chiic nang

27
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

in


2.
TT
1

Danh sach nhCrng ngvoi tham gia thirc hien de tai
H9 v^ Ten
Pham Anh Tuan

HQC vi

Tien sT

Chuyen nganh

Ca quan cong tac

Co dien tu

Bo mon Cong nghe Hang khong
vii tru, Khoa Co hoc ky thuat va
Tu dong hoa
Phong DLHVT & CDTCX,

2

Le Xxian Huy

Thacsy

Co dien tu
Vien Cong nghe Vu tru

3

Phong DLHVT & CDTCX,

Vuang Thi Dieu
Huang

Thac sy

Nguyen Truong Thanh

Thac sy

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

4

Co dien tu
Vien Cong nghe Vii tru
Phong DLHVT & CDTCX,

5

Phung van Hiep

Thac sy

Dieu khien
Vien Cong nghe Wu tru
Phong DLHVT & CDTCX,

6

Hoang The Huynh

Ky su

Co dien tu
Vien Cong nghe Vu tru

Phong DLHVT & CDTCX,

7

Ha Van Quang

Ky su

Dieu khien
Vien Cong nghe Vu tru
Phong DLHVT & CDTCX,

8

Bui Nam Duong

Ky su

Co dien tu
Vien Cong nghe Vii tru
Phong DLHVT & CDTCX,

9

Cao Xuan Hoang

Ky su

Co dien tu
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

vii


Project Title: ''Manufacturing the mobile robot kit based on SR5'01
robot for Mechatronics Education "
Code number:

QC.07.23

Coordinator:
Vietnam National University

Implementing Institution:
Department Of Mechatronics, Faculty of Engineering Mechanics and Automation,
College Of Technology, VNU

Cooperating Institution(s):
Duration:from05/2007 to 05/2008
L Objectives:
Develop a tool that help mechanical students to familiar with designing,

manufacturing and controlling a mechanical control system through building a mobile
robot from many function parts (Sensors, Controller, Actuator ...).

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.

3. Results obtained:
•

Succeeding in designing and manufacturing the mobile module bring the serial
robot.

•

Succeeding in Building the Human Interface to control the robot from the host
computer.

•

Succeeding in designing the control module for Mobile Robot Kit.

vai

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

1


IL

PHAN NOI DUNG CHINH

Dat van de

1

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 vi 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.
KhSi dS hga: Tao ra mo phong dl hpa 3D sii dung cong nghe dl hpa OpenGL dl mo
phong do hpa cua robot trong qui trinh thao tic dieu 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 vi 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 vi 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 vi 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 2 li loai robot co hai banh dan dpng vi mot binh ty hinh diing trong cac ling dung xu
ly inh, trinh vat cin[5]


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. NIU ^ = pC Y ^]^ vecto mo ti 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 :


X
Y

cos^ -sin^
sin^ cos^

(1)

Ngoii ra ta c6 0 = a)

Hinh 8: Dpng hpc robot
'uy nhien cong thiic (1) chua mo ti het chuyen dpng ciia robot. Vi the can thilt phan tich mli
!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.
'a CO moi quan he: Vj^ = r^co^.

(2)

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

8


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 binh 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 COM den tam quay

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

^J K
V:

Cuthe:

(3)

= 6)

ly

-diy

-dcy

d^

= (0

d^^

(4)

Tpa dp ciia tam quay tiic thai trong he tpa dp tuang doi li:
ICR = iXfCR.yjcR) = (-d,c^<^yc)

y

Vay (4) dupe viet lai:
yicR

_

CO

(5)

(6)

ICR

Tii hinh 9 ta co quan he:
d^y=d,^ = dcy~c
d3y=d,y=dcy-\-c

du=d^,=dc^-a

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)


Vt=V,,=V2,
V«=V3^=V,^

(8)

VF=V2y=Viy
VB=V,^=V,^

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:
1
1

0

-e
e
-X/CT+*

0

'^ICR ~ ^.

\ '
6)

(9)

Tu (2) va (8) voi r-=r ta co the viet lai

0) =

'(^L

_i

'^L

L^«J r L^J

(10)

Trong do co,, G)„ la van t6c goe eua day trai va day phai eua robot.

Ket hpp (9) vi (10) vi bien doi ta c6 moi quan he giiia van toe goc ciia cac banh xe va van toe
:ua robot:

10


(O^+O)^
77 =

(O

2

=r

2c

.

(11)

Trong d6 TJ la dieu khien deiu v ^ eua mo hinh dong hoc.
Tir (6) ta CO

(12)

^ + ^/c«^ = 0

(12) eo thS dugc viSt lai du6i dang ma tran:
(13)

[-sin^ cos^ ^/cfl][^ Y oj = A(q)q = 0
t

r

Ta CO the viet

q = S{q)r]

Trong do

S\q)£((i)
COS0

S(q) = sin^

Va

0

(14)
=^

(15)

x,c«sin^
-\,(.^cos0
1

(16)

Phuang trinh (14) mo ta dong hoc cua robot.
Ap dung vao mo hinh mobile robot voi bang thong so sau:
Chii thich

STT

Thong so

1

a

2

b

Khoing each tu trpng tam xe den true sau

58

3

c

Khoang cich giira 2 banh trai vi phai

116

r

Bin kinh ciia banh xe

88

Gii tri (mm)

Khoing cich tii trpng tam xe den true truoc

58

r

i

Bang 1: Cae gia tri eua cac thong so dong hoe eua robot
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.

12


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
13


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

14

*

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

15


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
/

r

>

^

U
' OC hai dua tam phu ngang vio giua hai tam mat ben, va dupe giu bang cac ranh ga ciia tam
lit ben

Hinh 19: Buoc ba
ip tim tren cung co tic dung dl mach vi thilt bi truyin phit khong diy

16