Anda di halaman 1dari 13

MC LC

PHN 1: LOI ROBOT ............................................................................................................................ 2


PHN 2: CU TRC ROBOT.................................................................................................................. 2
1. Basic specifications.............................................................................................................................. 2
1.1 Basic specifications........................................................................................................................ 2
1.2 Part names and working axes ...................................................................................................... 3
1.3 Baseplate Dimensions ................................................................................................................... 3
1.4 Dimensions and Working Range ................................................................................................. 4
1.5 B-Axis working range ................................................................................................................... 5
1.6 Alterable Working Range ............................................................................................................ 5
2. Part list ................................................................................................................................................. 6
2.1 S-axis driving unit ......................................................................................................................... 6
2.2 L-axis driving unit......................................................................................................................... 7
2.3 U- and R-axes driving unit ........................................................................................................... 7
2.4 Wrist unit ....................................................................................................................................... 8
PHN 1: LOI ROBOT
Motoman SV3X is used as the platform for the robot arm. The Motoman SV3X has six
individual axes: Sweep, Lower arm, Upper arm, Rotate, Bend, and Twist.

PHN 2: CU TRC ROBOT


1. Basic specifications
1.1 Basic specifications
Table. 1 Basic Specifications*1
Operation Mode Vertically Articulated
Degree of Freedom 6
Payload 3kg
Repetitive Positioning Accuracy*2 0.03m
S-Axis (turning) 170
L-Axis (lower arm) +150, -45
U-Axis (upper arm) +190, -70
Motion Range
R-Axis (wrist roll) 180
B-axis (wrist pitch/yaw) 135
T-Axis (wrist twist) 350
S-Axis 3.67 rad/s, 210/s
L-Axis 2.79 rad/s, 170/s
Maximum U-Axis 3.93 rad/s, 225/s
Speed R-Axis 5.23 rad/s, 300/s
B-axis 5.23 rad/s, 300/s
T-Axis 7.33 rad/s, 420/s
R-Axis 5.39Nm (0.55kgfm)
Allowable
B-Axis 5.39Nm (0.55kgfm)
Moment*3
T-Axis 2.94Nm (0.3kgfm)
R-Axis 0.1kgm2
Allowable
B-Axis 0.1kgm2
Inertia (GD2/4)
T-Axis 0.03kgm2
Mass 30kg
Temperature 0 to 45C
Humidity 20 to 80% RH (non-condensing)
Vibration Less than 0.5G
Ambient Free from corrosive gasses or liquids,
Conditions oexplosive gasses
Other Clean and dry
Free from excessive electrical noise
(plasma)
Power Capacity 1kVA

*1 SI units are used in this table. However, gravitational unit is used in ( ).


*2 Conformed to ISO9283
*3 Refer to " 6.1 Allowable Wrist Load " for details on the permissible moment of inertia.
1.2 Part names and working axes

Fig. 1 Part names and working axes


1.3 Baseplate Dimensions

Fig. 2 Baseplate Dimensions (mm)


1.4 Dimensions and Working Range

Fig. 3 Dimensions and Working Range


1.5 B-Axis working range

The working range of the B-Axis maintaining a constant angle to the center of the U-
arm is shown in " Fig. 4 B-Axis Working Range "

Fig. 4 B-Axis Working Range


1.6 Alterable Working Range

The working range of the S-Axis can be altered according to the operating conditions
as shown in " Table. 2 S-Axis Working Range ". If alteration is necessary, contact your
Yaskawa representative in advance.
Table. 2 S-Axis Working Range
Item Specifications
S-Axis working range 170(standard)
150
120
90
60
30
2. Part list
2.1 S-axis driving unit
2.2 L-axis driving unit

2.3 U- and R-axes driving unit


2.4 Wrist unit
PHN 3: KHO ST NG HC

Bng D-H
l d
1 150 0 1 /2
2 260 0 2 + /2 0
3 60 0 3 /2
4 0 260 4 - /2
5 90 0 5 /2
6 0 d1 6 0
Ma Trn D-H biu din 1 khp c dng tng qut :


1
=[ ]
0
0 0 0 1
Trong : c = cos (); s= sin(); c = cos () ; s=sin();
l gi tr l ca khu i
di l gi tr d ca khu i
M ta c: T06 l ma trn chuyn i tng hp, T06 = A01*A12*A23*A34*A45*A56
Dng matlab nhn cc ma trn ta s c code:
>> syms l t d a;
>> A = [ cos(t) -sin(t)*cos(a) sin(t)*sin(a) l*cos(t); sin(t) cos(t)*cos(a) -cos(t)*sin(a) l*sin(t); 0 sin(a)
cos(a) d ; 0 0 0 1]

A=

[ cos(t), -cos(a)*sin(t), sin(a)*sin(t), l*cos(t)]


[ sin(t), cos(a)*cos(t), -sin(a)*cos(t), l*sin(t)]
[ 0, sin(a), cos(a), d]
[ 0, 0, 0, 1]

>> syms t1 t2 t3 t4 t5 t6 d1 ;
>>l=150; d=0 ; t=t1;a = sym ( pi/2);
>> A01 = [ cos(t) -sin(t)*cos(a) sin(t)*sin(a) l*cos(t); sin(t) cos(t)*cos(a) -cos(t)*sin(a) l*sin(t); 0 sin(a)
cos(a) d ; 0 0 0 1]

A01 =
[ cos(t1), 0, sin(t1), 150*cos(t1)]
[ sin(t1), 0, -cos(t1), 150*sin(t1)]
[ 0, 1, 0, 0]
[ 0, 0, 0, 1]

>> l= 260; d=0; t=t2 + sym (pi/2); a=0;


>> A12=[ cos(t) -sin(t)*cos(a) sin(t)*sin(a) l*cos(t); sin(t) cos(t)*cos(a) -cos(t)*sin(a) l*sin(t); 0 sin(a)
cos(a) d ; 0 0 0 1]

A12 =

[ cos(pi/2 + t2), -sin(pi/2 + t2), 0, 260*cos(pi/2 + t2)]


[ sin(pi/2 + t2), cos(pi/2 + t2), 0, 260*sin(pi/2 + t2)]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]

>> l=60;d=0;t=t3;a=sym(pi/2);
>> A23=[ cos(t) -sin(t)*cos(a) sin(t)*sin(a) l*cos(t); sin(t) cos(t)*cos(a) -cos(t)*sin(a) l*sin(t); 0 sin(a)
cos(a) d ; 0 0 0 1]
A23 =

[ cos(t3), 0, sin(t3), 60*cos(t3)]


[ sin(t3), 0, -cos(t3), 60*sin(t3)]
[ 0, 1, 0, 0]
[ 0, 0, 0, 1]

>> l=0;d=260;t=t4;a=sym(-pi/2);
>> A34=[ cos(t) -sin(t)*cos(a) sin(t)*sin(a) l*cos(t); sin(t) cos(t)*cos(a) -cos(t)*sin(a) l*sin(t); 0 sin(a)
cos(a) d ; 0 0 0 1]

A34 =

[ cos(t4), 0, -sin(t4), 0]
[ sin(t4), 0, cos(t4), 0]
[ 0, -1, 0, 260]
[ 0, 0, 0, 1]

>> l=90;d=0;t=t5;a=sym(pi/2);
>> A45=[ cos(t) -sin(t)*cos(a) sin(t)*sin(a) l*cos(t); sin(t) cos(t)*cos(a) -cos(t)*sin(a) l*sin(t); 0 sin(a)
cos(a) d ; 0 0 0 1]

A45 =

[ cos(t5), 0, sin(t5), 90*cos(t5)]


[ sin(t5), 0, -cos(t5), 90*sin(t5)]
[ 0, 1, 0, 0]
[ 0, 0, 0, 1]

>> l=0;d=d1;t=t6;a=0;
>> A56=[ cos(t) -sin(t)*cos(a) sin(t)*sin(a) l*cos(t); sin(t) cos(t)*cos(a) -cos(t)*sin(a) l*sin(t); 0 sin(a)
cos(a) d ; 0 0 0 1]

A56 =
[ cos(t6), -sin(t6), 0, 0]
[ sin(t6), cos(t6), 0, 0]
[ 0, 0, 1, d1]
[ 0, 0, 0, 1]

>> T06= T1*T2*T3*T4*T5*T6

T06=

[ sin(t6)*(cos(t4)*sin(t1) + sin(t4)*(cos(t1)*sin(t3)*sin(pi/2 + t2) - cos(t1)*cos(t3)*cos(pi/2 + t2))) +


cos(t6)*(cos(t5)*(sin(t1)*sin(t4) - cos(t4)*(cos(t1)*sin(t3)*sin(pi/2 + t2) - cos(t1)*cos(t3)*cos(pi/2 + t2)))
- sin(t5)*(cos(t1)*cos(t3)*sin(pi/2 + t2) + cos(t1)*cos(pi/2 + t2)*sin(t3))), cos(t6)*(cos(t4)*sin(t1) +
sin(t4)*(cos(t1)*sin(t3)*sin(pi/2 + t2) - cos(t1)*cos(t3)*cos(pi/2 + t2))) - sin(t6)*(cos(t5)*(sin(t1)*sin(t4)
- cos(t4)*(cos(t1)*sin(t3)*sin(pi/2 + t2) - cos(t1)*cos(t3)*cos(pi/2 + t2))) -
sin(t5)*(cos(t1)*cos(t3)*sin(pi/2 + t2) + cos(t1)*cos(pi/2 + t2)*sin(t3))), sin(t5)*(sin(t1)*sin(t4) -
cos(t4)*(cos(t1)*sin(t3)*sin(pi/2 + t2) - cos(t1)*cos(t3)*cos(pi/2 + t2))) +
cos(t5)*(cos(t1)*cos(t3)*sin(pi/2 + t2) + cos(t1)*cos(pi/2 + t2)*sin(t3)), 150*cos(t1) +
260*cos(t1)*cos(pi/2 + t2) + d1*(sin(t5)*(sin(t1)*sin(t4) - cos(t4)*(cos(t1)*sin(t3)*sin(pi/2 + t2) -
cos(t1)*cos(t3)*cos(pi/2 + t2))) + cos(t5)*(cos(t1)*cos(t3)*sin(pi/2 + t2) + cos(t1)*cos(pi/2 +
t2)*sin(t3))) + 90*cos(t5)*(sin(t1)*sin(t4) - cos(t4)*(cos(t1)*sin(t3)*sin(pi/2 + t2) -
cos(t1)*cos(t3)*cos(pi/2 + t2))) - 90*sin(t5)*(cos(t1)*cos(t3)*sin(pi/2 + t2) + cos(t1)*cos(pi/2 +
t2)*sin(t3)) + 260*cos(t1)*cos(t3)*sin(pi/2 + t2) + 260*cos(t1)*cos(pi/2 + t2)*sin(t3) -
60*cos(t1)*sin(t3)*sin(pi/2 + t2) + 60*cos(t1)*cos(t3)*cos(pi/2 + t2)]
[ - sin(t6)*(cos(t1)*cos(t4) + sin(t4)*(cos(t3)*cos(pi/2 + t2)*sin(t1) - sin(t1)*sin(t3)*sin(pi/2 + t2))) -
cos(t6)*(cos(t5)*(cos(t1)*sin(t4) - cos(t4)*(cos(t3)*cos(pi/2 + t2)*sin(t1) - sin(t1)*sin(t3)*sin(pi/2 + t2)))
+ sin(t5)*(cos(t3)*sin(t1)*sin(pi/2 + t2) + cos(pi/2 + t2)*sin(t1)*sin(t3))),
sin(t6)*(cos(t5)*(cos(t1)*sin(t4) - cos(t4)*(cos(t3)*cos(pi/2 + t2)*sin(t1) - sin(t1)*sin(t3)*sin(pi/2 + t2)))
+ sin(t5)*(cos(t3)*sin(t1)*sin(pi/2 + t2) + cos(pi/2 + t2)*sin(t1)*sin(t3))) - cos(t6)*(cos(t1)*cos(t4) +
sin(t4)*(cos(t3)*cos(pi/2 + t2)*sin(t1) - sin(t1)*sin(t3)*sin(pi/2 + t2))), cos(t5)*(cos(t3)*sin(t1)*sin(pi/2
+ t2) + cos(pi/2 + t2)*sin(t1)*sin(t3)) - sin(t5)*(cos(t1)*sin(t4) - cos(t4)*(cos(t3)*cos(pi/2 + t2)*sin(t1) -
sin(t1)*sin(t3)*sin(pi/2 + t2))), 150*sin(t1) + 260*cos(pi/2 + t2)*sin(t1) - d1*(sin(t5)*(cos(t1)*sin(t4) -
cos(t4)*(cos(t3)*cos(pi/2 + t2)*sin(t1) - sin(t1)*sin(t3)*sin(pi/2 + t2))) - cos(t5)*(cos(t3)*sin(t1)*sin(pi/2
+ t2) + cos(pi/2 + t2)*sin(t1)*sin(t3))) - 90*cos(t5)*(cos(t1)*sin(t4) - cos(t4)*(cos(t3)*cos(pi/2 +
t2)*sin(t1) - sin(t1)*sin(t3)*sin(pi/2 + t2))) - 90*sin(t5)*(cos(t3)*sin(t1)*sin(pi/2 + t2) + cos(pi/2 +
t2)*sin(t1)*sin(t3)) + 60*cos(t3)*cos(pi/2 + t2)*sin(t1) + 260*cos(t3)*sin(t1)*sin(pi/2 + t2) +
260*cos(pi/2 + t2)*sin(t1)*sin(t3) - 60*sin(t1)*sin(t3)*sin(pi/2 + t2)]
[ cos(t6)*(sin(t5)*(cos(t3)*cos(pi/2 + t2) -
sin(t3)*sin(pi/2 + t2)) + cos(t4)*cos(t5)*(cos(t3)*sin(pi/2 + t2) + cos(pi/2 + t2)*sin(t3))) -
sin(t4)*sin(t6)*(cos(t3)*sin(pi/2 + t2) + cos(pi/2 + t2)*sin(t3)),
- sin(t6)*(sin(t5)*(cos(t3)*cos(pi/2 + t2) - sin(t3)*sin(pi/2 + t2)) + cos(t4)*cos(t5)*(cos(t3)*sin(pi/2 + t2)
+ cos(pi/2 + t2)*sin(t3))) - cos(t6)*sin(t4)*(cos(t3)*sin(pi/2 + t2) + cos(pi/2 + t2)*sin(t3)),
cos(t4)*sin(t5)*(cos(t3)*sin(pi/2 + t2) + cos(pi/2 + t2)*sin(t3)) - cos(t5)*(cos(t3)*cos(pi/2 + t2) -
sin(t3)*sin(pi/2 + t2)),
260*sin(pi/2 + t2) + 90*sin(t5)*(cos(t3)*cos(pi/2 + t2) - sin(t3)*sin(pi/2 + t2)) - 260*cos(t3)*cos(pi/2 +
t2) + 60*cos(t3)*sin(pi/2 + t2) + 60*cos(pi/2 + t2)*sin(t3) + 260*sin(t3)*sin(pi/2 + t2) -
d1*(cos(t5)*(cos(t3)*cos(pi/2 + t2) - sin(t3)*sin(pi/2 + t2)) - cos(t4)*sin(t5)*(cos(t3)*sin(pi/2 + t2) +
cos(pi/2 + t2)*sin(t3))) + 90*cos(t4)*cos(t5)*(cos(t3)*sin(pi/2 + t2) + cos(pi/2 + t2)*sin(t3))]
[
0,
0,
0,
1]
px= T06(1,4)

px =

150*cos(t1) + 260*cos(t1)*cos(pi/2 + t2) + d1*(sin(t5)*(sin(t1)*sin(t4) - cos(t4)*(cos(t1)*sin(t3)*sin(pi/2


+ t2) - cos(t1)*cos(t3)*cos(pi/2 + t2))) + cos(t5)*(cos(t1)*cos(t3)*sin(pi/2 + t2) + cos(t1)*cos(pi/2 +
t2)*sin(t3))) + 90*cos(t5)*(sin(t1)*sin(t4) - cos(t4)*(cos(t1)*sin(t3)*sin(pi/2 + t2) -
cos(t1)*cos(t3)*cos(pi/2 + t2))) - 90*sin(t5)*(cos(t1)*cos(t3)*sin(pi/2 + t2) + cos(t1)*cos(pi/2 +
t2)*sin(t3)) + 260*cos(t1)*cos(t3)*sin(pi/2 + t2) + 260*cos(t1)*cos(pi/2 + t2)*sin(t3) -
60*cos(t1)*sin(t3)*sin(pi/2 + t2) + 60*cos(t1)*cos(t3)*cos(pi/2 + t2)

>> py= T06(2,4)

py =

150*sin(t1) + 260*cos(pi/2 + t2)*sin(t1) - d1*(sin(t5)*(cos(t1)*sin(t4) - cos(t4)*(cos(t3)*cos(pi/2 +


t2)*sin(t1) - sin(t1)*sin(t3)*sin(pi/2 + t2))) - cos(t5)*(cos(t3)*sin(t1)*sin(pi/2 + t2) + cos(pi/2 +
t2)*sin(t1)*sin(t3))) - 90*cos(t5)*(cos(t1)*sin(t4) - cos(t4)*(cos(t3)*cos(pi/2 + t2)*sin(t1) -
sin(t1)*sin(t3)*sin(pi/2 + t2))) - 90*sin(t5)*(cos(t3)*sin(t1)*sin(pi/2 + t2) + cos(pi/2 + t2)*sin(t1)*sin(t3))
+ 60*cos(t3)*cos(pi/2 + t2)*sin(t1) + 260*cos(t3)*sin(t1)*sin(pi/2 + t2) + 260*cos(pi/2 +
t2)*sin(t1)*sin(t3) - 60*sin(t1)*sin(t3)*sin(pi/2 + t2)

>> pz= T06(3,4)

pz =

260*sin(pi/2 + t2) + 90*sin(t5)*(cos(t3)*cos(pi/2 + t2) - sin(t3)*sin(pi/2 + t2)) - 260*cos(t3)*cos(pi/2 +


t2) + 60*cos(t3)*sin(pi/2 + t2) + 60*cos(pi/2 + t2)*sin(t3) + 260*sin(t3)*sin(pi/2 + t2) -
d1*(cos(t5)*(cos(t3)*cos(pi/2 + t2) - sin(t3)*sin(pi/2 + t2)) - cos(t4)*sin(t5)*(cos(t3)*sin(pi/2 + t2) +
cos(pi/2 + t2)*sin(t3))) + 90*cos(t4)*cos(t5)*(cos(t3)*sin(pi/2 + t2) + cos(pi/2 + t2)*sin(t3))

T kt qu trnta tm c px, py, pz theo cc gi tr: 1 2 3 4 5 6 1