Đồ án tốt nghiệp - Designing, creating, and controlling the tripteron robot

Tên môn học: Khóa luận tốt nghiệp

Giá: 47.000đ

Tổng thanh toán:

47.000đ

Người đăng tải:

#10377

Chi tiết tài liệu :

Đồ án tốt nghiệp ngành Robot và trí tuệ nhân tạo - Designing, creating, and controlling the tripteron robot - Trường Đại học Sư phạm Kỹ thuật Thành phố Hồ Chí Minh (HCMUTE)

Định dạng	PDF
Dung lượng	7.53 MB
Số trang	106
Ngành	Robot và trí tuệ nhân tạo

Lượt xem	9
Ngày đăng	24/01/2026

MINISTRY OF EDUCATION AND TRAINING
HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
-

FACULTY FOR HIGH QUALITY TRAINING

GRADUATION THESIS
DESIGNING, CREATING, AND CONTROLLING
THE TRIPTERON ROBOT
SUPERVISOR:
STUDENTS:

CLASS:
YEAR:

TUONG PHUOC THO
DO TIEN DUNG
NGUYEN HAI LONG
DO QUANG THIEN
19146CLA1, 19146CLA3
2019 - 2023

Ho Chi Minh City, July 2023

MSSV: 19146104
MSSV: 19146091
MSSV: 19146004

HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY FOR HIGH QUALITY TRAINING
-

SUBJECT MECHATRONICS

GRADUATION THESIS
DESIGNING, CREATING, AND CONTROLLING
THE TRIPTERON ROBOT
SUPERVISOR:
STUDENTS:

CLASS:
YEAR:

TUONG PHUOC THO
DO TIEN DUNG
NGUYEN HAI LONG
DO QUANG THIEN
19146CLA1, 19146CLA3
2019 - 2023

Ho Chi Minh City, July 2023

MSSV: 19146104
MSSV: 19146091
MSSV: 19146004

HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY FOR HIGH QUALITY TRAINING

VIETNAM SOCIALIST REPUBLIC
Independent - Freedom - Happiness

SUBJECT: MECHATRONICS

MISSION OF GRADUATION THESIS
Semester II / Year 2022 - 2023
SUPERVISOR: TUONG PHUOC THO
STUDENTS:

1. DO TIEN DUNG

Student ID: 19146104

Phone number: 0964493832

2. NGUYEN HAI LONG

Student ID: 19146091

Phone number: 0937959345

3. DO QUANG THIEN

Student ID: 19146004

Phone number: 0915163901

1. Theme code: [22223DT178]
Name of Topic: DESIGNING, CREATING AND CONTROLLING TRIPTERON
ROBOT
2. Original parameters and documents:
Parallel robot Triperon: 3 DoFs with each leg
Workspace 300x300x300 (mm)
Lifting force 0.5 – 1 kg
Accuracy 80 %
3. Project contents:
In this project, we focus on studying how to make and control a parallel robot,
which is a Tripteron robot. The main contribution of this project is the rigorous
examination of the mathematical model and the analysis of the inverse kinematics and
dynamics of a parallel manipulator with three degrees of freedom.
In addition, we also design and manufacture a complete Tripteron based on the
referenced samples. Control the robot through the C# interface to send and receive
commands and information from the user.

i

4. Expected product:
- 1 realistic model
- 1 user interface
- 1 project reported
- 1 poster
- 1 simulation video
5. Project start date: 15/03/2023
6. Project submission date: 28/07/2023
7. Language:

Report:
Project presentation:

English 
English 

Tiếng Việt 
Tiếng Việt 

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

...
BY

NGUYEN HAI LONG

PARTS LIST
ITEM QTY
PART NUMBER
1
2 nhom550
2
3 nhom500
3
1 nhom470
4
3 bovitme
5
3 bantruot
6
1
ASV-000-001-000
7
3
ASV-000-002-000
8
3
ASV-000-004-000
9
3
ASV-000-003-000
10
9
V-000-005-000
11
9 AS 1474 - M6
12
1 ATV8-4040-09
13
2 KE HOC NHOM DINH
HINH
04/08

CHECKED BY TUONG PHUOC THO
HO CHI MINH CITY
UNIVERSITY OF TECHNOLOGY AND EDUCATION

DEION
STEP AP203
STEP AP203
STEP AP203

Hex Nut
STEP AP203

TITLE:

ASSEMBLY DRAWING
MATERIAL:

SCALE
1:6

Rz30

7,5

R2

3-

5

15 - 00,05

20

7

8 + + 0, 0

0, 0 6
2

69,98

13
15

7

C2

R2

30

R2

60

59

15,5

30

12

R1,25

15 - 00,05

8

14

30

TECHNICAL REQUIREMENT:
+ Dimension tolerance unmarked is 0.2
+ Remove bavia
+ Tolerance roughnes unmarked is Rz=30um
+ Quantity: 1 pcs

DRAW BY

NGUYEN HAI LONG

04/08

CHECKED BY TUONG PHUOC THO
HO CHI MINH CITY
UNIVERSITY OF TECHNOLOGY AND EDUCATION

TITLE:

END-EFFECTOR
MATERIAL:

AL6061

SCALE
1:6

Rz30

2-

8 +0

+ 0 ,0
,02 6

R8

25

R5

R8

270 0,1

36

30
18

C1
2-15 ++ 0,15
0,05

15

29

R5

29

19

286

TECHNICAL REQUIREMENT:
+ Dimension tolerance unmarked is 0.2
+ Remove bavia
+ Tolerance roughnes unmarked is Rz=30um
+ Quantity: 3 pcs

DRAW BY

NGUYEN HAI LONG

04/08

CHECKED BY TUONG PHUOC THO
HO CHI MINH CITY
UNIVERSITY OF TECHNOLOGY AND EDUCATION

TITLE:

LINK 2
MATERIAL:

AL6061

SCALE
1:6

Rz30

15

15 - 00,05

15

250 0,1
266

2-

8 +0

+ 0 ,0 6
,0 2

R8

TECHNICAL REQUIREMENT:
+ Dimension tolerance unmarked is 0.2
+ Remove bavia
+ Tolerance roughnes unmarked is Rz=30um
+ Quantity: 3 pcs

DRAW BY

NGUYEN HAI LONG

04/08

CHECKED BY TUONG PHUOC THO
HO CHI MINH CITY
UNIVERSITY OF TECHNOLOGY AND EDUCATION

TITLE:

LINK 1
MATERIAL:

AL6061

SCALE
1:6

Rz30

40

30 0,1

15 ++ 0,15
0,05

17
4M

30 0,1

5x
0.8

TECHNICAL REQUIREMENT:
5

+ Dimension tolerance unmarked is 0.2
+ Remove bavia
+ Tolerance roughnes unmarked is Rz=30um
+ Quantity: 3 pcs

14

40

7

5,5

22

R2

DRAW BY

NGUYEN HAI LONG

04/08

CHECKED BY TUONG PHUOC THO

8 +0

R8

+ 0 ,0
,02 6

HO CHI MINH CITY
UNIVERSITY OF TECHNOLOGY AND EDUCATION

TITLE:

BASE
MATERIAL:

AL6061

SCALE
2:1

Rz30

5
C0,

6g

14

2

8 - 00,03

1

5,2

M6
x1
-

9

29,2

TECHNICAL REQUIREMENT:
+ Dimension tolerance unmarked is 0.2
+ Remove bavia
+ Tolerance roughnes unmarked is Rz=30um
+ Quantity: 9 pcs

DRAW BY

6

NGUYEN HAI LONG

04/08

CHECKED BY TUONG PHUOC THO
HO CHI MINH CITY
UNIVERSITY OF TECHNOLOGY AND EDUCATION

TITLE:

BOLT
MATERIAL:

AL6061

SCALE
4