Thiết kế robot leo cầu thang

NGHIEN CUU - TRAO DOI

Thiet kefObO t leo cau thang

(*)TS. CHUANHMY

TOM TAT:

Chiing tdi trinh bay giai phap thiet ke va thir nghiem mdt loai Robot cd kha nang di chuyen qua cac

dia hinh phiic tap, leo dugc cau thang, vugt vat can va truyen dugc anh Camera ve vi tri dieu khien. Thiet

ke mach dieu khien va tich hgp he thdng Robot tong the ciing dugc trinh bay trong bai bao nay.

1. GlOfI THIEU

Rd bdt di ddng cd kha nang leo cau thang va quan

sat mdi trudng xung quanh la mdt dang rd bot dia hinh.

Khi hoat ddng, Rd bdt cd the di chuyen linh hoat trong

mdi trudng dia hmh ket hpp; mat phing, vugt qua vat

can, ranh va leo len dugc cac bac thang. Neu dugc tich

hgp cac camera va cac md dun cdng tac khae. Robot cd

the dap ling dugc mdt sd nhiem vu da dang trong nhirng

mdi trudng dac biet nhu; dd tun bom min, trinh sat muc

tieu... v.v. Nhd kha nang thay the con ngudi lam -viec

trong cac tinh hudng dac biet nhu vay, nhu cau ve Robot

leo cau thang hien nay rat ldn. Trong khudn khd bai bao

nay, chiing tdi trinh bay mdt giai phap thiet ke va che tao

mau thu nghiem mdt phien ban Robot leo cau thang, cd

trang bi camera quan sat xung quanh. Robot cd the hoat

ddng trong cac nha cao tang tai Viet Nam.

Xoay quanh van de nghien cuu dupc dat ra, trong

nhirng nam gan day, da cd mdt sd cdng trinh nghien cuu

dupc cdng bd trong va ngoai nudc. Trong dd, cac khia

canh dugc quan tam nhieu nhat cd the ke den; thiet ke,

tdi uu hda cau tnic co cau van ddng (Apostolopoulos

va Bares 1995), thiet ke co khi he Robot (Volpe va cac

cdng sir 1996, Thainwinboon va cac cdng sir 2001),

thiet ke he thdng dieu khien (Chakraborty va cac cdng

sy 2005, Karam va Albagu 1998). Qua khao sat cac cau

tnic thudng gap nhu; Robot dang chan, dang banh ldp

va dang banh xich, trong nghien ciru nay, chiing tdi lira

ehgn ket cau dang banh xich de bao dam rang Robot

vira cd kha nang chuyen ddng tren dia hinh phirc tap, cd

(*) Hoc vien Ky thuat Quan sir

the leo cau thang, thuan lgi trong qua trinh thiet ke, che

tao, de dieu khien va chi phi khdng qua cao.

2. THIET KE HETH ONG vA THIET

KE CO KHI

2.1. Chirc nang vdyeu cdu cua he thong

Thiet ke he thdng rd bdt phai dam bao dugc cac

yeu cau sau;

- Rd bdt cd the leo len va xudng cac cau thang thdng

thudng cua cac tda nha tai Viet Nam (qua nghien cim,

kich thudc chieu rdng va chieu cao tnmg binh cua mdt

bac thang thdng thudng khoang 300mm va 150mm);

- Chuyen ddng linh hoat tren cac ben mat phirc tap

va cd kha nang -vorgt qua vat can (chieu cao ldn nhat cua

vat can la 200mm, gde nghieng cue dai ciia viing la 30°

va chieu rdng cue dai cua ranh la 400mm);

- Cd kha nang re phai, trai, chuyen ddng tien, liii,

tam dirng va dimg mdt each chinh xac.

- Hinh anh va video camera phai dugc truyen den

man hinh PC;

- Rd bdt cd the dugc dieu khien bdi; (i) thiet bi cam tay

(hiru tuyen va vd tuyen), va (ii) giao dien PC (vd tuyen);

- Khdi lugng tdi da 30 Kg;

- Van tdc cue dai 0,6 m/s;

- Van tdc trung binh 0,2 m/s;

- Ngudn dien DC;

- Cau tnic md cho phep cai tien, phat trien.

2.2. Thiit ki he thdng tdng thi

De cd the dap iing dugc cac yeu cau nhu da phan c

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