Nghiên cứu kỳ thuật điều khiển sử dụng trong tương tác với cánh tay robot

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Tác giả: Hà Quang Thịnh Ngô, Trung Hiếu Phan

Ngôn ngữ: Vie

Ký hiệu phân loại: 629.8 Automatic control engineering

Thông tin xuất bản: Cơ khí Việt Nam 2022

Mô tả vật lý: 120-125

Bộ sưu tập: Metadata

ID: 397737

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Hàn là một kỹ thuật đòi hỏi kỹ năng và thời gian cua người thợ hàn. Thợ hàn là những người đirợc đào tạo chuyên nghiệp đê xử lý nhiều loại mối hàn khác nhau nhưng hiệu qua công việc của họ lại không cao. Đặc biệt trong trường hợp san xuất hàng loạt, toe độ cùa thợ hàn không thê phù hợp với nhu câu sàn xuất. Một so loại chi tiết quá lớn không thê gia công thành một khói, phái dùng các hệ thông hàn tự động đê nôi chúng lại với nhau. Hàn tự động là một thuật ngừ chung đẻ chỉ các quy trình hàn sư dụng thiêt bị tiếp tục hàn mà không can người vận hành đẻ thiết bị chạy liên tục. Trong bài này, chúng tôi sẽ trình bày ứng dụng cua phương pháp hàn MIG (Metal Inert Gas) cho cánh tay robot cộng tác (Cobot) 6-DOF của Công Ạ' Universal. Bang cách nghiên cún các thuật toán điêu khiên hướng chuyên động cua cánh tay robot, chúng tôi đã thiết kế một đường cong trong không gian và đê cánh tay robot hàn dọc theo đường cong đó. Các bước tính toán cho động học cua rô bốt được đưa ra, cùng với các phát hiện về các vị trí kỳ dị cũng được đề cập để tối ưu hóa chuyên động cua cánh tay rô bốt. Cuối cùng là trình bày kết quà mô phóng hàn của cảnh tay robot, cho thây được kha năng kiêm soát vị trí tuyệt vời cua nó. Các ứng dụng và hướng phát triên cùa robot này được đề cập ở phan cuối., Tóm tắt tiếng anh, Welding is a process that requires the skill and time of the welder. Welders are people who are professionally trained to handle many different types of welds, but their performance is not high. Especially in the case of mass production, the welder's speed cannot match the production demand.Some types of parts are too large to be machined in a single block, it means that automatic welding systems are applied to join them together. Automatic welding is a generic term for welding processes using equipment that continues welding without the need for an operator for it to run continuously.In this paper, we will present the application of the MIG (Metal Inert Gas) welding method to the available 6-DOF collaborative robot arm (Cobot) of Universal company. By studying algorithms that control the movement direction of the robot arm, we designed a curve in space and let the robotarm welds along that curve. Calculation steps for the robot's kinematics are given, along with the findings of singular positions are also mentioned for robot arm movement optimization. Finally, the welding simulation results of the robot arm are presented, showing its great position-controlled ability. The applications and development directions of this robot are mentioned at the end.

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