Khảo sát dao động của tàu biển

NGHIEN cuu-TRAO DOI

Hinh 9: Bo mach digu khien tren ro bot

Toan bd he thong Robot da dugc tich hgp va thir

nghiem thanh cdng tai Phdng thi nghiem Co dien tir,

Bd mdn Robot dac biet va Co dien tir, Hpc vien Ky

thuat Quan sir. Xem hinh 10.

Hinh 10: Miu ro bot leo cau thang

4. KET LUAN

Rd bdt dugc thiet ke, che tao dap img day du cac

nhiem dat ra -vu nhu; di chuyen linh hoat qua cac dia

hinh phirc tap, leo dugc cau thang, giri anh camera ve vi

tri dieu khien,... Ket cau co khi dugc thiet ke bao dam

kha nang chuyen ddng linh hoat. Mach dieu khien tren

rd bdt nhan cac lenh tir giao dien PC va dieu khien cac

CO cau dan ddng theo yeu cau. Viec nang cap cho cac

phien ban tiep theo cua rd bdt de dap ting cac nhiem

vu mong mudn se dupc nhdm nghien ciiu tiep tuc thuc

hien trong tuong lai. •

Tai lieu tham khao:

1. R. Volpe, et al./ The Rocky 7 Mars Rover Prototype //

Proceedings of IROS, pp. 1558-1564,1996.

2. Chakraborty N, Ghosal A / Dynamic Modeling and

Simulation of a Wheeled Mobile Robot for Traversing Uneven

Terrain Without Slip // Joumal of Mechamcal Design 127(5):

pp. 901-909,2005.

3. K.Z.Karam, A.Albagul / Eh'namic Modelling and Control

Issues for a Three-Wheeled Vehicle // Proc. 5th Int. Con. on Control,

Automation, Robotics and Vision, Smgapore, 1998,

4. Apostolopoulos D. Bares .1/ Configuration of a Robust

Rappellmg Robot // Proceedmgs of the 1995 IEEE Intemational

conference on Intelligent Robots and Systems (IROS), US, 1995.

5. M. Thainwmboon et al. / Rocker-Bogie Suspension

Performance //Proceedmgs of the Eleventh IntemationalConference

m Automotive Engmeermg, Chma, 2001.

Khao sat

dao dong

cua

T R U BIEN

(*) ThS. LE TIEN DUNG

1. DAT VAN DE

Khi nghien ciru thiet ke cac thiet bi nhu he thong

phao, he thdng ra da hay thiet bi phdng ngu ldi... bao

gid ngudi ta ciing phai khao sat dao ddng cua con tau

ma ngudi ta da du kien dat thiet bi len do. Bdi dao

ddng ciia con tau cd anh hudng ldn den kha nang lam

viec ciia thiet bi, dp cirng -virng, dp dn dinh ciia he thong

ciing phu thudc nhieu vao dao ddng cua con tau, viec

khao sat dao ddng nay la rat can thiet.

2. NOI DUNG

2.1. Ca sd Iy thuyit tdu Men

1.1.1. Cdc dang dao dpng cda tdu trin mat biin

Khi chuyen dpng tren mat bien, tau thuy ludn luon

thuc hien chuyen ddng dao ddng. Cac loai chuyen ddng

dao ddng dugc mieu ta d hinh 1 sau [4];

(*) Hoc vien Ky thuat Quan su

TAP CHi CQKHi VIET NAM V So 5 - Thang 5 nam 2011