ee a ee ee ee ee ee eee a eee pe ee ep re ral ETE MINISTRY OF EDUCATION AND TRAINING pl HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION E FACULTY FOR HIGH QUALITY TRAINING h dl ; ral : rl iL fy DỤ fy a l [ rl Uy DỊ in | iy DỊ lý GRADUATION THESIS DỊ fF ELECTRONICS AND TELECOMMUNICATION h li ENGINEERING TECHNOLOGY lh Ú a i Ï | | : Us h DESIGN, CONSTRUCTION AND MODEL al 5 CONTROL OF FIVE BAR — PARALLEL ROBOT 5 DI i lì i yl 7d Ly ADVISOR: TUONG PHUOC THO DỊ DI STUDENTS: TRAN DINH TRONG DI HH PHAM HUU THACH DỊ fe = 4 5 Ey i : : fe SKLO10955 ic : Ï | lì i fy Ho Chỉ Minh City, July 2023 Fy el eee ele epee eee ele eee eel pee eee MINISTRY OF EDUCATION AND TRAINING HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING HCMUTE My GRADUATION THESIS DESIGN, CONSTRUCTION AND MODEL CONTROL OF FIVE BAR — PARALLEL ROBOT SUPERVISOR: TUONG PHUOC THO STUDENTS TRAN DINH TRONG _ - 19146001 PHAM HUU THACH _ - 19146118 CLASS: 19146CLA3, 19146CLA2 YEAR: 2019 — 2023 Ho Chi Minh City, July 2023 HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION SOCIALIST REPUBLIC OF FACULTY FOR HIGH QUALITY TRAINING VIETNAM Independent - Freedom - Happiness SUBJECT: MECHATRONICS ————— MISSION OF GRADUATION THESIS SEMESTER 2 / YEAR 2023 SUPERVISOR: TUONG PHUOC THO STUDENTS: 1. Tran Dinh Trong ID: 19146001 Contact: 0854187662 2. Pham Huu Thach ID: 19146118 Contact: 0971841079 1. Project ID: —22223DT180 Project name: DESIGN, CONSTRUCTION AND MODEL CONTROL OF FIVE BAR — PARALLEL ROBOT 2.
Data and documents: — Five - Bar Parallel Robot — Expected figures: — Size: 350mm x 350mm x 300mm — Workspace: 300mm x 300mm x 100mm — Estimated accuracy: 70% 3. Main content of the project: In this project we focus on doing the calculating and mechanical design, control, simulating the operation process of the five-bar parallel robot. From there we design and control the robot as we have calculated. And we can use many different type of the robot’s model in industrial as well as in life with it’s ability of moving or transporting goods to a direct spot fast and precisely.
Expected products — 1 reality robot — 1 display control — 1 project report — 1 simulating video — 1 poster 5. Project start date: 15/03/2023 6. Project submission date: 28/07/2023 7. Language: Report: English 7 Vietnamese 1 Project presentation: English 7 Vietnamese L¡ (Notes: High-quality English system provides explanations and reports in English) CHAIR OF THE PROGRAM CHAIR OF THE MAJOR SUPERVISOR (Sign with full name) (Sign with full name) (Sign with full name) LÏ Allow to defense .ĂĂ cà (Supervisor,sign with full name) COMMITMENT Project name: Design, construction and model control of Five Bar — Parallel Robot Supervisor: Tuong Phuoc Tho Student name: Tran Dinh Trong ID: 19146001 Class:19146CLA3 Address: KTX Khu B DHQG, Dong Hoa, Di An, Binh Duong Phone contact: 0854187662 Email: 19146001 @student.vn Project submission date: 10/07/2023 Commitment: “We thus attest that we conducted the research for and wrote the graduation thesis.
I never steal text from an article without crediting the author. I accept full responsibility for any violations. Ho Chỉ Minh City,. July 2023 STUDENTS (Sign with full name) COMMITMENT Project name: Design, construction and model control of Five Bar — Parallel Robot Supervisor: Tuong Phuoc Tho Student name: Pham Huu Thach ID: 19146118 Class: 19146CLA2 Address: Chung cu BCONS Mien Dong 55 Tan Lap Di An Binh Duong Phone contact: 0971841079 Email: 19146118 @student.vn Project submission date: 10/07/2023 Commitment: “We thus attest that we conducted the research for and wrote the graduation thesis.
I never steal text from an article without crediting the author. I accept full responsibility for any violations. Ho Chi Minh City,. July 2023 STUDENTS (Sign with full name) ACKNOWLEDGMENT In the process of doing the project, we have received a lot of help, inspiration and instruction from lectures, family and friends.
We would like to express our most sincere thanks to Mr. TUONG PHUOC THO - who enthusiastically guided and taught us in the process of doing this project. Additionally, we would like to express our gratitude to the professors at the Ho Chi Minh City University of Technology and Education. we were able to acquire all the necessary abilities thanks to Ho Chi Minh City in general and the instructors in Mechatronic Engineering Technology, in particular for their understanding of both general and specialized subjects during the learning process.
Strong theoretical underpinnings and advantageous settings made it possible for us to interact with sophisticated gear and equipment, which helped us develop our own talents more and more. Finally, we would like to thank my family and friends for all of their aid and encouragement throughout the study process and project completion. This endeavor cannot be perfect due to the practitioner's limited time and experience. We are eager to get the advice and criticism from the teachers so that we can broaden and deepen my understanding and better serve the practical work in the future.
STUDENTS (Sign with full name) TRAN DINH TRONG-PHAM HUU THACH PROJECT SUMMARY DESIGN, CONSTRUCTION AND MODEL CONTROL OF FIVE BAR- PARALLEL ROBOT The five bar parallel robot model is the main topic of this project. It is designed, built, and controlled. Building a robot model with the ability to execute intricate and dependable movements is the project's aim. First, the robot model design procedure is completed.
Actuators, coupling assemblies, and robot configuration are just a few of the mechanical parts that are discussed in the project, along with their selection and fabrication. The project also demonstrates the design of the controller as well as the investigation and programming of workspace optimization and smoother movement control modes. The project then moved onto the process of building the model. The specific steps of this procedure, from component machining to assembly and functionality testing, are outlined in depth.
In order to guarantee the stability and longevity of the model, the project also discusses the choice of appropriate materials and production techniques. After much research and modification, the project's main goal is to manage the model using a variety of operating modes repeatedly. This will improve the model's accuracy. vi FOREWORD Today, science and technology are expanding fast and broadly in many disciplines, not to mention how well robots may boost production output in industrial settings.
The machine's ability to operate in production autonomously and with great accuracy without human oversight contributes to lower production and product costs and the creation of higher-quality goods. My group conducted research on and carried out the project titled "DESIGN, CONSTRUCTION AND MODEL CONTROL OF FIVE BAR - PARALLEL ROBOT" based on the aforementioned problems. Use a range of activities in both work and personal situations, loading and unloading cargo with the greatest amount of efficiency, and moving it quickly and precisely to its destination. Because we haven't been introduced to or investigated this application direction as a fourth-year mechanical engineering student concentrating on mechatronic, we have had a lot of trouble exploring the aforementioned topic.
However, we have successfully implemented this topic thanks to the direction and devoted direction of Mr. Tuong Phuoc Tho. Last but not least, we would want to express my sincere gratitude to Mr. Tuong Phuoc Tho and all the professors that assisted and fostered an environment that allowed us to finish the project.
vii TABLE OF CONTENTS MISSION OEF GRADUA TION THE/STIS.-c- 5c << se se ưng.ccccscsscsssscscssssssssssssssnssessessessesssssssessessssssnesnessssessessessssssorsesseses II COMMITMENTTT.00 0004000 0H00 000 00 90 M PROJECT SUMMA RRYY. VI LLIST OIE TA BÌLJEVS .001 0 00 0 0000 000005 006 XI LIST OF DRAWING, DIAGRAM.cccsssssssssnssessescsesesscssssessessessssssnsssssesseeseres XII CHAPTER 1: INTRODUCTION. Purpose Of ([€SỈTT. Limited of the DFOjj€CÍ.
Presentation content, overview OŸ ChajDÉ€TS. Define the Five Bar — Pardllel ÏẦOOI.- << «<< xe xe che re 7 2. Analysis And Design Five-Bar Parallel Robot Configuration Selection. Analysis and Design 0ƒ the Link dT.-<- << 5< < se se 1s se se se 8 2.
Five-Bar Parallel ÑOOf Ì)€SÏTH. 5 5= 5s ch nh ghe 10 2. Durability Calculation And Material SeleCfÏOnn. Calculation And Motor Se€l€CfÏOII.
Complete ID€SÏØ7n. ForWdlrdl KỈHCIHH(GẨÍCS. 5 5= << HH TH TT Họ Hi TH nh ghe 19 2. IHIV€TS€ KÙHLCIHH((Í[CS.
HH TH TT Họ Hư 21 viii 2. Workspace Of fÏh€ FODOÍ. Tp€ Ï SỈHIĐIHÏAIFÏÍW-.-s- 5< << HH TH Họ Hi TH nh ghe 24 2. TpD€ 2 SIIIĐIÏAITÍÍÍ€S:.
HH TH TT Họ HT hư nnhh 24 2. Cases belonging to 2 ÍyD€S 0ƒ SỈHIĐIHÏAITÍẨ:. HH TH HH TH TT Họ HT nh ưnnhh 29 2. Traj€Cfory pÏanniÏHg::.
So 5 5= << < H HH TH Họ HT ghe 31 2. Some comunon (rqjeCfOry DÏAHHÌHNE SÍ6J0S-.e- 5-5 5S se se 1s se seee 32 2. Trajectory planning using the SCA rmefÏLOdÏ:.- <5 <s<<s<ss<s 34 CHAPTER 3: CONTROLLER DESIGN. Controller generaÌ đỉaØTAIH.
Design and selection of controller C0mDON€TIÉS. Sfep mofor JNE MA 2 3':. o5 << HH TH TH TT Họ HH ngưng 44 3. Sfepper mofor driver circuif T66()).--<«- ««< es s=ss=sessesses 44 3.
Beehive electricify suppÏly 2⁄ÄV — Ï(ỦÁ :.-- 5< < «se se se sseseee 45 3. Green push bufton LA38-1IBN 22mm TÚA. Emergency stop button LA38-11ZS INO INC.csccscccsscsscsssssssccssssnssessssssscsssssssessessssssssnsssssessessesssseees 55 CHAP'TER 4: RESULTS AND EXPERIMIEENTTS. ExperLI€H(ÌÏ Í€SÍ IHL€ẨÏLO (Ỉ,.
Họ Họ Hi th nh ghe 60 4. Experimental TF€S LIÏS .s- < 5< << HH Họ Họ Họ HT nh ghi 62 4. Synthesiz€ and aIIAÌYZ/©::. Result analysis of mode operations execution ŒCCHTQCY.
Analysis of the accuracy results of the end effector POSition.000 72 CHAPTER 5: RESULTS, COMMENTS AND CONCLUSION. Obtained TF€SUÌ:. 5 cọ HH Họ. Họ HH HH TH TH Họ HT 0® 76 5.o- - 5 << HH TH Họ Họ Hưng 77 5.
HH HH HH 00.000 H00 00 000009804 79 LIST OF TABLES Table 1 Parameter Table Gearbox 57PX10 17 Table 2 Motor datasheet 18 Table 3 Coordinate parameter table in forward kinemafics mode. << 68 Table 4 Coordinate parameter table ỉn POSÏ(ÏY€ INO.5 55-5 5< 5 5< «s59 se ssse 69 Table 5 Coordinate parameter table in NegatiYe ImOd€. 5-55 <5 s<s<ssessesssse 70 Table 6 Coordinate parameter table in Inverse kinematics mod e .-- «<< 72 Table 7 Coordinate parameter table of Circle 'TTAj©CẨOT-Y.o-<5-s=<se< «essessessesssse 73 Table 8 Coordinate parameter table of Line 'TTraj©CfOTY .5-s=<se<s=<s<ssessesesse 74 xi Figure 2. LIST OF DRAWING, DIAGRAM 1 Cartesian robot 2 Robot SCARA 3 Overview about the Robot’s links 4 Case I of simulating workspace 5 Case II of simulating workspace 6 Case III of simulating workspace 7 Five-Bar Parallel Base Frame 8 Active Link 9 Passive Link 1 10 Passive Link 2 11 Stress simulation of Active Link 12 Stress simulation of Passive Link 1 13 Stress simulation of Passive Link 2 14 Robot arm diagram 15 Five-Bar Parallel Robot In Design 16 Forward kinematics 17 Inverse kinematics 18 Type 1 singularities 19 Type II singularities 20 Case where 3 points are collinear 21 Case where A: and A2 overlap 22 4 working modes 23 Ways to determine the mode of Operation .sssscccsssscsseccescessssessesssees 24 Diagram of position, velocity and acceleration of Cubic equation.
25 How to determine the point in the environmental point chart. 26 Descartes space dot matrix 27 How to find the perfect match 28 Objective function for T e '+c©œeœ cua 1 Hardware diagram for controlling fWO IOfOTFS .5 5< 5< 55s se sesses 39 2 Diagram of the signal transmission process of the controller. 3 Wiring diagram between Driver and ÏMOfOFF.