Về một thuật toán xác định quy luật mô men dẫn động các khớp của robot hàn OTC AX v6

NGHIEN CUTU-TRAODO I

V i MOT THUAT TOAN XAC DINH QUI LUAT MO MEN

DAN DONG CAC KHOP CO A ROBOT HAN OTC AX-V6

JOINT TORQUE COMPUTATION ALGORITHM FOR WELDING ROBOT OTC AX-V6

KS. Tran Le Linh, PGS, TS. Chu Anh My, ThS. Doan Hoc Dan

Hpe vien Ky thuat Quan sU.

TOM TAT

Trong thiet ke, che tqo Robot cong nghiep, viec xdc dinh qui ludt lUc (mo men) ddn dgng cdc khdp

theo thdi gian Id vdn de quan trong. Id cd sd degidi quyet mot loat cdc bdi todn khde mgt cdch hiiu qud:

Khdo sdt do ben cd cdu, tinh chgn phan td ddn dgng, truyen dgng, khdp noi, 6, true, then, tinh todn cdc

ludt dieu khien,... Gidi quyet vdn dendy, hdi bdo trinh hdy mot gidi thudt so cho mo hinh cd he Robot hdn

cu the 6 bdc tU do.

Tir khda: Momen, Robot hdn, OTC AX-V6.

Computting all joint torques of manipulator plays an important role in robot design process. Based

on the computation, a number of designing issues could be implemented effectively such as the structure

analysis, the motor selection, the gear box selection, etc. In partically, it is also used for developing the

control laws for the robot. In this paper, an algorithm for calculating all the joint torques of the robot ATC

AX-V6 is built and implemented.

Keyword: Torques, Welding robot, 0TCAX-V6.

I. DAT VAN DE ddng liic chu ySu giiip Robot di chuyen theo yeu

cau nhiem vu.

Trong linh viic Robot, Robot cdng nghiep

(tay may) dupe hieu la cac loai Robot phuc vu De giai quyet tdt cac bai toan thiet ke Robot,

trong cdng nghiep, cd cau true eo hoc d dang can phai ed xae dinh rd cac qui luat md men ddn

chuoi hd, eac khau ndi tiep nhau nhd eae khdp ddng theo yeu cau lam viec cua he thong (qui dao,

mdt bac tii do (cac khdp tinh tien hoac quay). Cae van tdc, gia tde edng tac) tren cd sd ket cau, tii

khdp Robot thudng dUdc dan ddng nhd eae dpng trpng cua Robot, trpng Iddng, kich thildc cua eae

CO dien, thdng qua eae bd truyen giam tdc ca khi. khau. Khi eae md men dan dpng dUdc xac dinh, ta

Md men do eac cd cau dan dpng sinh ra la nguon mdi cd the xac dinh dUgfc cdng suat eiia cac cd

^ B TAP CHf CO KHI VI|T NAM *•* Sd 4 (Thane 4 nam 2013)