M hnh ha v m phng h c hc 3D trong mi trng Simulink

Nguyn Th Cm Lai

Trng i hc Cng ngh

Lun vn Thc s ngnh: C hc k thut; M s: 60 52 02 Ngi hng dn: TS. Trn Dng Tr

Nm bo v: 2011

Abstract: Gii thiu v phn mm simmechanics. Nghin cu mt s m hnh 3D c m phng trn Simmechanics nh: m hnh h 4 thanh ly d liu Body c sn, m hnh mt bng ti c hc, robot 6 bc t do. Tm hiu m hnh ha v m phng mt s h thng thc t: M phng con lc 2 bc t do, cch tay robot 5 bc t do.

Keywords: C hc k thut; 3D; M hnh ha; Simulink

Content

Ngy nay, cng vi s pht trin ca khoa hc cng ngh, cc h thng my mc c

pht minh v ci tin hng ngy. Cng vi n l h thng cc phn mm m phng cng c

sinh ra p ng nhu cu tit kim chi ph sn xut, gim gi thnh ng k v tng tnh

cnh tranh cho sn phm. Trong , Simulink l mt mi trng hon ho p ng tt cc yu

cu m phng ca ngi s dng vi mt khi lng th vin kh phong ph v y .

Trong lun vn ny, ti cp ch yu n phn mm SimMechanics - mt thnh

phn ca Simulink. Phn mm SimMechanics l mt mi trng m hnh ha biu khi

cho thit k k thut v m phng ca h vt rn v cc hot ng ca chng, s dng tiu

chun ng hc Newton v lc v moment.

Phn mm SimMechanics c th m hnh ha v m phng c cc h c hc vi

mt h thng cng c xc nh cc vt vi c im v khi lng, hot ng ca chng,

ng hc v cc h ta . N gip ngi s dng c th miu t mt h c hc bng mt h

thng s khi c lin kt vi nhau, ging nh cc m hnh Simulink khc v cng c th

kt hp vi cc h con khc.

Cc cng c ca phn mm SimMechanics trnh by v biu din sng ng cc hnh

hc my 3-D, trc v trong sut qu trnh m phng.

Bn cnh vic m phng bng phn mm SimMechanics v tnh ton bi ton ng

hc thun cho m hnh, vic tip cn gii bi ton ng hc ngc cng l vn cn lm

vic m hnh ha v m phng c y v hon thin hn, p ng c nhng yu cu

t ra trong thc t, v d i vi cc h thng my ct gt, my khoan theo hnh dng yu

cu ca ngi s dng.

2

Chng 1 - GII THIU PHN MM SIMMECHANICS

1.1 Th vin Body

1.2 Th vin Constraints v Drivers

1.3 Th vin Joint

1.4 Th vin Sensor & Actuator

1.5 Th vin Utilities

1.6 Lin kt cc khi v to m hnh

Chng 2 - MT S M HNH M PHNG 3D S DNG SIMMECHANICS

2.1 M hnh con lc 2 bc t do

2.2 M hnh h 4 thanh ly d liu Body c sn

Chng 3 - THC HNH M PHNG CNH TAY ROBOT 5 BC T DO

3.1 V cc chi tit bng SolidWorks

3.2 M phng trn SimMechanics

3.3 M hnh sau khi m phng

KT LUN

Lun vn ny trnh by li hng dn s dng tng khi cho ngi mi dng

SimMechanics.

Bn cnh , lun vn cng nu chi tit vic thit lp mt h thng cnh tay robot t bc

m hnh ha n m phng hot ng ca ton b h thng.

References

Ting Vit

Nguyn Vn Khang (2007), ng lc hc h nhiu vt, NXB KHKT, H Ni.

Nguyn Phng Quang (2004), Matlab v Simulink, NXB KHKT, H Ni.

Ting Anh

A. A. Shabana (2001), Computational Dynamics, John Wiley&Sons, New York.

Bishop, R. H. (1993), Modern control systems analysis and design using MATLAB, Addison-

Wesley, United States.

SimMechanics Getting Started Guide.

SimMechanics Users Guide.

SimMechanics Visualization and Import Guide.