THIẾT KẾ, CHẾ TẠO TAY MÁY ROBOT SCARA 4 BẬC TỰ DO LOẠI RPRR TÍCH HỢP NHẬN DẠNG CẤU HÌNH KỲ DỊ

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Tác giả: Văn Tùng Bùi, Hùng Linh Lê, Vôn Dim Nguyễn, Xuân Trọng Trần, Thúy Hà Trịnh

Ngôn ngữ: vie

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Thông tin xuất bản: Tạp chí Khoa học và Công nghệ - Đại học Thái Nguyên, 2024

Mô tả vật lý: tr.45 - 52

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ID: 380087

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Ngày nay, robot SCARA (Selective Compliance Assembly Robot Arm) được sử dụng rộng rãi trong lĩnh vực lắp ráp cơ khí và điện tử để nâng cao hiệu quả sản xuất và chất lượng sản phẩm. Tuy nhiên, có hai vấn đề quan trọng khi áp dụng cánh tay robot vào thực tế là giá thành robot cao và trong quá trình làm việc, robot có thể rơi vào các cấu hình kỳ dị, gây ảnh hưởng đáng kể đến hiệu suất của robot. Bài báo này trình bày quá trình thiết kế, chế tạo cánh tay robot SCARA bốn bậc tự do cấu hình Revolute-Prismatic-Revolute-Revolute (RPRR) sử dụng phương pháp mô hình hóa, mô phỏng trên phần mềm SolidWorks và phần mềm Matlab/Simulink. Phần mềm SolidWorks hỗ trợ thiết kế, xây dựng mô hình 3D, tạo các ràng buộc lắp ráp và kiểm nghiệm thiết kế. Phần mềm Matlab/Simulink giúp mô phỏng, phân tích không gian làm việc, tìm ra các điểm kỳ dị để loại trừ các cấu hình kỳ dị của robot. Về phần chế tạo, robot SCARA được chế tạo bằng phương pháp in 3D nhằm tối ưu hóa chi phí. Kết quả, robot được chế tạo ra có chi phí thấp, hoạt động theo yêu cầu thiết kế và loại bỏ được các điểm kỳ dị.Nowadays, SCARA robots (Selective Compliance Assembly Robot Arm) are widely used in the mechanical and electronic assembly field to enhance production efficiency and product quality. However, there are two significant issues when applying robotic arms in practice: high robot costs and the possibility of the robot falling into singular configurations during operation, significantly affecting its performance. This article presents the design and fabrication process of a four-degree-of-freedom SCARA robot arm with a Revolute-Prismatic-Revolute-Revolute (RPRR) configuration using modeling and simulation methods in SolidWorks and Matlab/Simulink software. SolidWorks software supports the design process by enabling 3D modeling, creating assembly constraints, and testing the design. Matlab/Simulink software aids in simulation, workspace analysis, and identifying singular points to eliminate unusual robot configurations. In terms of fabrication, the SCARA robot is manufactured using 3D printing to optimize costs. As a result, the fabricated robot is cost-effective, operates according to design specifications, and eliminates singular configurations.

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