Đồ án tốt nghiệp - Design, construction and model control of five bar - Parallel robot

Tên môn học: Khóa luận tốt nghiệp

Giá: 90.000đ

Tổng thanh toán:

90.000đ

Người đăng tải:

#10377

Chi tiết tài liệu :

Đồ án tốt nghiệp ngành Robot và trí tuệ nhân tạo - Design, construction and model control of five bar - Parallel robot - Trường Đại học Sư phạm Kỹ thuật Thành phố Hồ Chí Minh (HCMUTE)

Định dạng	PDF
Dung lượng	8.46 MB
Số trang	108
Ngành Ngành học chỉ mang tính chất tham khảo	Robot và trí tuệ nhân tạo

Lượt xem	280
Ngày đăng	20/01/2026

MINISTRY OF EDUCATION AND TRAINING

HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
___________________________

FACULTY FOR HIGH QUALITY TRAINING

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
FACULTY FOR HIGH QUALITY TRAINING

SUBJECT: MECHATRONICS

SOCIALIST REPUBLIC OF
VIETNAM
Independent - Freedom - Happiness

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.

i

4. 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 

Vietnamese 

Project presentation:

English 

Vietnamese 

(Notes: High-quality English system provides explanations and reports in English)

CHAIR OF THE PROGRAM
(Sign with full name)

 Allow to defense

CHAIR OF THE MAJOR
(Sign with full name)

……………………………………………
(Supervisor,sign with full name)

ii

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

-

Address: KTX Khu B ĐHQG, Dong Hoa, Di An, Binh Duong

-

Phone contact: 0854187662

-

Project submission date: 10/07/2023

-

Commitment: “We thus attest that we conducted the research for and wrote the

Class:19146CLA3

Email: [email protected]

...

...
EM NO.
3

10

5

6
11
4

8

DEION

QTY.

MOTOR

2

2

ACTIVE LINK

2

3

HOLD SHAFT

1

4

BALL BEARING

5

PASSIVE LINK 1

1

6

HOLD SHAFT - RIGHT

1

7

PASSIVE LINK 2

1

8

HOLD SHAFT - RIGHT - END

1

9

BASE PLATE

1

10

HOLD CIRCLE

1

11

SMALL HOLD CIRCLE

1

12

SUPPORT PILLARS
B18.2.3.2M - Formed hex
screw, M6 x 1.0 x 60 -18WN

13

7

PART NUMBER

1

608-2Z - Deep groove ball
bearing

5

40X40L

4
4

14

ISO 4762 M5 x 30 - 22S

8

15

ISO - 4034 - M5 - S

8

16

3MM - SCREW

6

17

5MM - SCREW

4

Drawed

Pham Huu Thach

Checked

Tuong Phuoc Tho

15/06

Ho Chi Minh city
University of Technology and Education

FINAL ASSEMBLY
Scale 1:4

25

10

5

109.3
69.2

°
200

90

79

49.2

240

30

74.85°

TECHNICAL REQUIREMENT:

0

20

Dimension tolerance unmarked is 0.1
Remove bavia
On surface not have tolerance roughness is IT14 (Rz = 80um)

8

Drawed

Pham Huu Thach

Checked

Tuong Phuoc Tho

15/06

Ho Chi Minh city
University of Technology and Education

ASSEMBLY
Scale 1:2

6.3
6
44

250

5.5

23.5

240

205

650
700

TECHNICAL REQUIREMENT:
Dimension tolerance unmarked is 0.1
Remove bavia
On surface not have tolerance roughness is IT14 (Rz = 80um)
The Baseplate has a 5mm thickness

Drawed

Pham Huu Thach

Checked

Tuong Phuoc Tho

15/06

Ho Chi Minh city
University of Technology and Education

BASE PLATE
A1050

Scale 1:4

3.2

15

35
10

5

230

30

3

10

R15

14

TECHNICAL REQUIREMENT:
Dimension tolerance unmarked is 0.1
Remove bavia
On surface not have tolerance roughness is IT14 (Rz = 80um)
Drawed

Pham Huu Thach

Checked

Tuong Phuoc Tho

15/06

Ho Chi Minh city
University of Technology and Education

ACTIVE LINK
A1050

Scale 1:1

1.6

15

20
10

230

30

22

200

TECHNICAL REQUIREMENT:
Dimension tolerance unmarked is 0.1
Remove bavia
On surface not have tolerance roughness is IT14 (Rz = 80um)
Drawed

Pham Huu Thach

Checked

Tuong Phuoc Tho

15/06

Ho Chi Minh city
University of Technology and Education

PASSIVE LINK 1
A1050

Scale 1:1

1.6

10

30

230

3
22

7.5

4.5

R15

30

8

TECHNICAL REQUIREMENT:
Dimension tolerance unmarked is 0.1
Remove bavia
On surface not have tolerance roughness is IT14 (Rz = 80um)
Drawed

Pham Huu Thach

Checked

Tuong Phuoc Tho

15/06

Ho Chi Minh city
University of Technology and Education

PASSIVE LINK 2
A1050

Scale 1:1

3.2

20

8

35

5

3

Drawed

Pham Huu Thach

Checked

Tuong Phuoc Tho

15/06

Ho Chi Minh city
University of Technology and Education

PIN
SS400

Scale 2:1