TOI U u HOA KET c A u HE KHUNG XE Dl CHUYEN DOC CAU THANG PHUC VU CHO NGUOfl KHUYET TAT
OPTIMIZATION OF THE STRUCTURE PLATFORM OF THE WHEELCHAIR STAIR LIFTING DEVICE FOR THE REHABILITATION PATIENTS
Nguyen Minh Tri\ Nguyin Quang HuyS Huynh Quang Huy", Mai Thanh Diln', Tnidng QuSc Thanh'
'Trung tam Thiet ke va Che tao Thift bi mdi (NEPTECH) 'Tnidng Dai hoc Bach Khoa TR H6 Chi Minh.
T 6 M TAT
Trong bdi bdo ndy, cdc ket cdu dqng khung vd he thdng cd khi cua xe di chuyen doc cdu thang bd mangxe ldn cua cdc nghien ciiu tren tMgidi duac gidi thi$u. Viec tinh todn thiet kevd toi Uu hoa ht khung xe bdng phdn mem Hyperworks dUdc thtic hien. C^ud trinh mo phong vd tinh todn toi Uu hda dUa ra dUdc k^tqud thuyet phuc ve khoi lUdng khung gidm 9,1 %, iing sudt ldn nhdt gidm 26,7% vd ddng thdi chuyen vi cUng gidm 28%. Cdc dieu diiu kiin ben, do vong cho phep vd khoi lUdng dong thdi dUdc tdi iiu mot cdch hieu qud.
Ttt khoa: Platform Lift; Stair Lifi; Pigita; Thiet bi hd trd Un xudng cdu thang.
In this paper, we analysed some ofthe mechanism structures based on the current wheelchair stair lifting devices. In this device, the structure of the platform lift was modified and recalculated to strengthen durability and reduce the material. The Hyperworks computer-aided engineering (CAE) software, Altair Engineering Ltd., was used for our finite elements analysis (EEA) experiments. The results showed that the mass structure, the maximum stress and the displacement of the platform were reduced 9.1%, 26.7% and 28%, respectively In our studies, the stable condition, the allowable deflection and the mass structure were optmized simultaneous as an efficient method.
TAP CHl CO KHl V I £ T NAM, S6 7 nam 2013
1. G l 6 l T H I £ U CHUNG
Hien nay, vdi sU phdt trien cua ky thuat, da CO nhilu loai phUdng tiln hd trd ngUdi mat kha nang di lai cd the di chuyen trong sinh ho^t nhU:
NgUdi ldn tudi, ngUdi khuylt tat, benh nhan liln quan d i n cdt sdng dnh hUdng d i n chi dUdi, v.v...
Mpt phUdng tiln dien hinh do Id xe lan. NhUng vdi nhflng ban c h l ve ky thudt, ngUdi sfl dung xe lan van gap rat nhieu khd khan khi di chuyin trong dia hinh cd cdc ehudng ngai vat nhu cau thang, b^c thim. Nhflng chfldng ngai vdt nay rdt phd biln trong cdc thdnh phd, cac tda nha, van phong, cong sd, chung cU. Vi vay, viec nghiin cflu he thdng ndng chuyen xe lln hoac xudng d nhflng ndi cd ed cau thang bd la can thilt nham giup va hd trd cho ngUdi gid va ngUdi khuyet tat. Thdng thudng, sd lUdng ngUdi trp giup nhflng ngUdi ngoi xe lan khi len hodc xudng doc la tfl mdt den hai ngUdi, cdn de lln hoac xudng cau thang thi phai can tfl hai den bdn ngUdi tuy thudc vao trpng lUdng cua ngUdi ngdi t r i n xe ldn. Hinh 1 trinh bay cac phUdng thflc van chuyen ngUdi thu cdng khi lln cau thane bd. „ . ^
Hinh 1. PhUdng thdc di chuyin xe ldn ngUdi khuyit tdt len, xudng doc.
Hinh 2 trinh bay thilt hi van chuyen ngudi len/xudng cau thang bd. Cac thilt bi nay dupc flng dung rdt phd biln d cac nUdc phat triln tren t h i gidi tai nhflng ndi edng cdng nhU: Ga tau dien, trUdng hpc, viln bao tdng, v.v... Cdn tai Vilt Nam thi hiln ehUa cd ndi nao flng dung he thong nay Tfl nhflng phan tich trin ta thay dUdc sU can thilt cua vile nghiin cflu, thilt k l mot he thdng hd trd ngUdi khuylt tat lln cdu thang phu hdp vdi dilu kiln va mdi trUdng d Viet Nam.
Hmh 2. Thiit bi hd trd di chuyen xe lan.
O Viet Nam da cd cde cdng trinh nghiin cflu he thdng nang xe lan dpc eau thang bd den nay vdn chua thUe hien. Tac gia Phara Dxtc Khdi eung cpng su [1] nghiin cflu tdp trung vao nang cao mflc dp linh boat eua xe ldn tu hdnh leo cau thang. Tuy nhien, chi phi van hanh va mflc dp hilu qua vl nang lUdng, cung nhU mflc dp an toan d l ndng xe lan cd ngUdi van ehUa the hien tinh Uu viet.
Tren t h i gidi da ed nhilu nghien eflu ho trd cho ngUdi khuyet tdt nhU giup cho ngUdi khiem khuylt cd the tU phuc vu, giam di sU mac cam vdi xa hdi. Tai lieu viet v l he cd khi cua cac thilt bi vd he thdng ndng va quy chuan an toan dupc td chflc Hoa Ky dUa ra trong tai lilu [2]. Bin canh dd, cac nghiin cflu ve nhan trac hpe, cung cac trang thai nguy hilm trong flng dung thiet bi ndng ngUdi dUde trinh bay trong [3, 4]. Kent, Jr.
[5] da phat minh ra ed he nang g h i va da nhan bang sang c h l tai td chflc cdng nghe Hoa Ky nam 1992. Phat minh nay chi mdi flng dung cho thang nang thang. Dilu do cd the xem la nen tang cua cae nghien cflu sau nay. Cdc phat minh ve ghe tU hanh theo cdu thang dUpc Szentistvany dUa ra d i u lay thUdng hieu ddc quyin la "STANNAH STAIRLIFT" trong tai lieu 16]. Cac nghien cflu ve thiet bi nang dang cat keo dUa len cao da dUpc Houggyu [7] va Rashida [8] thUc hiln, trinh bay cae phuong phdp tdi Uu hda kit cau va md phdng thiet bi dung phan m i m Pro/E. Ngodi cdc nghien cflu trin, hien nay, cdc cdng ty cdn phat trien va thUdng m^i hda rat thanh cdng ve thiet hi nang xe lan dpc cau thang bd nhU: Cdng ty Bison, Acorn Stairlift, Axess, Ability, Platform Uft v.v... ^ TAP C H i CO KHi VIET NAM, Sd 7 nam 2013
Nhu da trinh bay d tren, ve thilt hi hd trp ngUdi khuyet tdt len/xudng ddc hoac cau thang da dUdc thilt ke flng dung rdng rai d Chau Au, Nhat ban, Han Qudc, v.v... Hinh 3 cac mau thilt bi cua cdc hang tren the gidi dUdc trinh bay.
Hinh 3. He thong xe ndng cua cac cdng ty: (a) Axess;
(b) Ability; (e) Platform Lift.
Tai Viet Nam, thilt bi hd trd cho ngUdi khuylt tat chi tap trung nghiin cflu, phat trien flng dung chfl yeu la xe lan. De hd trd cho xe lan lln/xudng doc da cd nhieu de tai nghien cflu v l xe Ian, nhUng phai sfl dung he thdng dieu khien phflc tap vd chi phi trang bi cao. Hien nay, xe lan tai Viet nam chu ylu dung sflc ngUdi.
Hinh 4. (a) Dqngghingoi; (b) Dqng thiit bi chuyen chd xe ldn tay.
Dua vao kha nang van chuyen cua thilt bi nang, cdc he thdng ho trd ngUdi khuylt tat len cau thang cd the dUde phdn lam hai loai sau: dang ghe ngdi vd dang thilt bi chuyen chd xe lan tay (hinh 4).
2. CAU TRUC CUA THIET BI
H I thdng hd trd ngUdi khuyet tat len cau thang gdm cac bd phan chinh sau: (1) Tay vin - lan can cau thang. (2) Khung sUdn la ndi lap cac mach dien va co cau truyln ddng chinh. (3) Tlianh bdo ve bao quanh ddi tUdng can van chuyen. (4) Bang dilu khien dung de van hdnh xe. (5) Thiet bi
an todn chdng va ch^m va phat h i l n vat can trin dudng ray. (6) Cd cau ddng m d san de xep xe gpn lai khi khdng sfl dung.
Sau qud trinh khao sdt cdc he thdng hd trd ngUdi khuyet tat hien cd tren the gidi. Xe Pigata do Nhat Ban san xuat dUdc chpn lam ddi tUdng de tham khao trong thiet ke md phdng (Hinh 5).
Hinh 5. (a) Thiet bi khungxe Pigata hodn chinh; (b) He khungxe Pigata.
Cac dang cdu thang cd the lap he thdng hd trd ngUdi khuyet tdt: Cdu thang dang thang (straight), edu thang dang cd khuc ngoat (curved stair): bao gdm cau thang ngoat dang cung tron, cdu thang ngodt 90" va cau thang ngoat ISO". Tat ca dupc the hien dUdi hinh 6.
Hinh 6. (a,b,c) Cdu thang dqng co nhdng khuc ngodt;
(d) Cdu thang dqng thdng.
Thilt k l di kem vdi xe Pigata la mdt he thdng cau thang tUdng ddi phflc tg.p, duac lap co dinh len tUdng dpc theo hanh lang cau thang. Xe cd the tu ddng x i p lai khi khdng dung tdi. Khii lupng xe theo thilt ke la 152(kg) vd kha nang van chuyen 1 ngUdi cung xe hd trd ngUdi khuylt tat.
3. KET QUA TfNH TOAN M O PHONG 3.1 Ddi tUdng tdi iiu trong nghiin ciiu
M u c t i l u t r o n g bai bao nay la ddnh gii TAP C H i C O KHi VIET NAM. Sd 7 nam 2013
cac chdt Ifldng cua thilt kl: khdi lUpng (giam) vdi rang bupe ve flng suat va chuyen vi (trong gidi ban cho phep). Biln thilt k l Id nhflng tham sd he thdng dfldc thay ddi de tdi Uu kha nang lam viec cua thilt hi. Trong tdi Uu hoa kich thUde chieu day cac thanh tren kit cdu tang hay giam se quylt dinh sU thay doi flng suat vd chuyin vi cua he khung. Trong nghiin cflu nay, flng sudt vd ehuyen vi dUdc sfl dung de gidi ban sU thay ddi chilu day cac thanh tren khung xe Pigata.
3.2 Tinh toan md phong he khung hiln tai Md hinh khung dung trong thilt k l nhU hinh 5 (b). Khung dan dUdc che t^o tfl eac loai thanh thep cd biln dang khac nhau nhU: thep hinh va thip tam, cdc thanh thep nay dUdc lam tfl vdt lieu CT3. Cac bUdc thUc hien trpng qua trinh mo phdng cung cdc thdng sd ban ddu dUde trinh bay sau ddy:
a) Chia lUdi vd cdc thdng s6 ban ddu
Cde chi tilt tren khung dan dUde rdi rac bdi cac phan tfl dang shell vd phdn tfl Solid trin phan mem HyperWorks 11.0. Phdn tfl shell dung de rdi rac eho eac chi tilt dang thanh mdng nhU chi tilt thep hop, thanh V, thanh U va tam. Phan tfl Solid dung d l rdi r^c cho chi tilt thanh dac nhU tren hinh 7.
H\nh 7. (a) Phdn td shell (Tria3 & Quad4) dung rdi rac chi tiet cd thdnh mong, (b) Phdn td solid (Hex8)
diing rdi rac thanh ddc.
Cae chi tilt t r i n khung xe dUde lien kit bang mdi hdn, vi tri edc mdi ban theo dflng thUc te che tao nhu hinh 8. Cac mdi hdn ndy chi ra rang cac thanh cd cdc lien kit cflng vdi nhau, trong bdi bao ndy chung tdi khdng nghiin cflu tinh toan ben cho mdi hdn. Cac thdng sd md hinh khung
thflc tai dupc trinh bay trong bang 1. Tieu chuan chat lUdng phdn tfl dUde xem xet va dUde the h i l n trong Bang 2.
Hmh 8. Cdc chi tiit liin kit vdi nhau bdng mdi hdn.
Bdng 1. Ihdng ki cdc thdng so cua mo hinh khung triide khi toi Uu.
Noi dung Khoi lUdng Dien tich The tich CTRIA3 CQUAD4 CPENTA RBE3
Thdng so 79,8 kg
2,931e+06mm'>2 l,01e+07 mm^a 332 (mo hinh phan tii) 178019 (m6 hinh phan ti) 1785 (lien ket moi han) 5674 (lien ket moi han) Bang2. Tiiu chudn chdt lUdngphdn tU cho mo hinh Max. Warpape
Max. Aspect Ratio Max, Skew angle Min. Jacobian Tria. - Min. Interior angle Tria. - Max. Interior angle Quad. - Min. Interior angle Quad. - Max. Interior angle
0,6.10' 2.27 37,5deg 0,61 30.13 deg 90,73 deg 45 deg 141,73 b) Cdc rdng budc vd dieu kien bien
Xe dupc gifl vflng vd chay dpc theo dUdng ray, trong qua trinh di chuyen xe se thudng xuyen chiu tdc ddng eua tai tinh bao gdm trong lUdng ngUdi va xe lan. 6 trang thai tinh, kit ndi gifla xe va dudng ray la kit ndi cd dinh. V\ tri kit ndi t h i hiln theo hinh b i n dUdi. Khi phan tlch bin, hai vi tri nay dUde rang budc co dinh {ban c h l 6 bdc tU
do) nhu hinh 9. "^
TAP CHi CO KHi V I £ T NAM, S6 7 ndm 2013
Hmh 9. Vi tri kit ndi xe vdi dUdng ray vd edc rdng budc c6 dinh.
Cac tdi trpng va lflc tac dung len khung xe trong qua trinh van hanh dUdc xera xet: (1) Xe s l chiu tac dung cua khdi lUdng tai bao gom khdi lUdng ngUdi va khdi lUdng xe lan; (2) Lflc trong trudng P gay ra bdi khdi lUdng tai (m = 200kg) - Vdi gia tdc trpng trUdng (g = 9,81m/s^) dUdc tinh theo cdng thflc: P = m*g = 200*9,81 = 1962 (N), lUe trpng trUdng se phdn bd tai vi tri 4 bdnh xe cua xe lan nhU hinh trin.
Hinh 10. (a) Kit qud chuyen vi theo phUdng Y; (b) Kit qud phdn tieh Ung sudt.
c) Ket qud trUdc khi toi Uu
Viec phdn tich chay md phdng phan tieh kilra tra ben dUdc thUc h i l n tren mdy Work- station, 24Gb Ram, 6 CPU 3.33GHz. Thdi gian chay phdn tich 2,50 phut. Kit qua nhdn dUdc: (1) Chuyin vi ldn nhat theo phUdng Y = 2,71 (mm);
(2) iJng sudt ldn nhdt 94,5 (MPa). Ong suat nay tap trung tai vi tri cd cau gifl khung san, gid tri flng suat nay nam trong gidi han dan boi cua v^t lieu. Kit qua dUdc chi ra tren hinh 10.
3.2. Md phong tdi Uu hda k i t cau he khung T m h todn tdi Uu giam khdi lUdng khung xUdng dUdc thflc b i l n theo n h i l u each khdc nhau:
thay ddi vat lieu thep t r i n k i t cau h i l n tai bang vdt lieu nhe hdn nhU vat lieu nhdra; tdi Uu bo tri lai k i t cdu khung xUdng; tdi Uu thay ddi chilu day tilt dien mat cat cac thanh tren khung xfldng.
Phdn bd lai k i t cau khung xfldng dfldc thflc hien tren mien vat lieu lien tuc la khdi dat, sau do thiJc hien bd bdt vung vat Ulu khdng can thilt d l co mdt kit cau tdi Uu. Kit qua cua phUdng phap nay Id mdt thiet k l y tudng, vi vdy each nay ehi phu hdp vdi t h i l t k l ban ddu de tao ra hinh dang sd bd cfla k i t edu.Thay ddi tilt dien mat cat ngang t r i n cdc thanh tren khung xfldng dUde thUc hien de dang ma khdng lam thay ddi thiet k l cu, each thflc h i l n nay phu hdp vdi nhflng thilt ke dang dUde sdn xuat. Sfl dung vat lieu nhe hdn nhU vat lieu nhdm d l thay the cho v^t lieu thep hien tai la xu hudng hien nay, tuy n h i l n do cdng nghl ban nhdm d cdc doanh n g h i i p bi han che va se tang ehi phi cho cdng n g h l lien kit nay nen phfldng phap nay bi han che.
Trong nghien cflu ndy, tinh todn tdi Uu khung xe dUdc thUc hien dfla tren phUdng phap tdi Uu thay ddi chieu day cac thanh tren khung.
Ham muc tilu la khoi lUdng khung xUdng toi thieu. Rdng budc tdi Uu la flng suat trin tpan bp kit cau va chuyen vi ldn nhdt cho phep. Biln thiet k l la chieu day cac thanh, b i l n thay ddi phu thupc vao dieu k i l n vdt lilu thflc tl.
a) Hdm mtic tieu M(t) la ham khdi lUdng toan bo khung xUdng.
M(0^ I'
Vdi j la sd lUdng loai thanh thep tren khung;
M la khdi lUdng tflng loai thanh thep;
M thay ddi ti 11 vdi chilu day t eua thanh, khdi lUdng thanh thanh Mj nhd nhdt khi chilu day t cua thanh nhd nhat. Muc tieu tdi Uu la tim gia tri nhd nhat eua ham muc tieu, do do:
TAP CHi CO KHl VIET NAM. Sd 7 nam 2013
M ( t ) —* min <-j. t —» m i n b) Rdng budc thiit ke
Can cfl theo thudc tinh vat h i u sfl dung trin khung xe la CT3, vat lieu ndy cd gidi han ddn hdi la 220 (MPa) cao hdn flng suat tap trung trong kit qua phdn tich ban dau la 94,5 (MPa) nhU v | y kit cdu da du bin. Khi dd, he sd an toan t r o i ^ tinh toan la 2,32.
Chuyin vj tren ket cdu h i l n tai Id 2,71(mm), khi thay ddi chieu day ede thanh thi gia trj chuyin vi ndy thay ddi theo, vdi rang budc chuyin vi t r i n kit eau trpng qua trinh md phdng toi Uu khdng dUde vUpt qud gidi ban chuyin vi ban ddu.
c) Cdc biin so trong thiit ki toi Uu
Biln thilt ke t r i n khung xe la chilu ddy cua tat cd thanh tren vflng thiet k l . Chilu day cua cdc thanh thay ddi theo chilu ddy eua thep thflc tl. Bien thilt k l eho khung xe dUOc the hiln trong bang 3 sau ddy:
Bdng3. Biin thiitkicho toi Uu kich thUdc Lofith^
Tli^phOpi
In
^ p V i , , , T h ^ t a m
Kich thifdc (mm) ' 8 0 x 4 0
5 0 x 3 0 4 0 x 2 0 , 3 0 x 3 0
Gidi han difdi (mm) 1,1 0,7 0,7 3,0 3,0
Gidi han tr£ii (mm)
4,0 3,5 3,5 4,0 15
BKActhay iSi (mm)
0,1 0,1 0,1 1,0 0,1
dUdc xet cho 2 vdng lap liln tijc, khi sfl thay doi efla ham rauc tilu nhd hdn gid tri dung sai thilt lap va cae vi pham cua rang bupe Id nhd hdn 1%.
Cdn it nhdt 3 phdn tich de ddnh gia hpi tu theo tilu chuin nay.
- Soft Convergence: tilu chuan hdi tu dat dUdc khi cd it hoac khdng ed sU thay ddi trong bien thilt ke cho 2 vdng lap liln tuc. Khdng cdn danh gia ham myc tieu (hay rang budc) t^i diem thiet k l khi md hinh khdng thay ddi tfl vdng l|p trfldc. Do dd, tieu chudn hdi tu nay can It hdn 1 vdng lap so vdi tilu chudn trin.
e) Ket qud toi Uu kich thUdc
Sau khi chaiy phdn tich tdi Uu trin OptiSt- ruet, kit qud dUdc xem xet trin Hyperview. Chilu ddy ede thanh trin khung xe dUdc c§p nhat thu cdng theo kit qua phdn tich tdi Uu va dUa t r i n d^c d i l m kit cdu, cdc chi tilt liln kit vdi thilt hi dupe d l nghi tang them chilu ddy so vdi ket qua tdi Uu.
Khdi lupng khung xe giam cdn 78.58 (kg). Trong khi flng suat cUc dai vd chuyin vi thda man cdc dilu kiln rdng buOe. Bang b i n dUdi t h i hiln kit qud phdn tich t r i n khung xe trUdc va sau khi tdi Uu.
Bdng 4. Kit qud tdi Uu
Thiet ke ban dau K^t qua toi Uu T i l e % thay doi
Kh«i Itfdng (kg)
79,85 72,52 -9,1(%)
tTng suat (MPa)
94,5 69,2 -26,7(%)
ChuyAi v i ( m n i ) 2,71 1,95 -28(%)
d) Diiu kiin hoi tu bdi todn
Bdi toan tdi Uu dupe thfle h i l n t r i n phan mem HyperWorks. Bai todn tdi Uu hdi t\i khi 1 trong 2 tilu chuSn hpi tu sau ddy thoa man:
Gidm khdi lUdng khung xe dUdc thflc h i | n bang each thay ddi chilu day cac thanh, nhUng van thda man cac dieu ki?n rang budc. Gia tri flng suat va ehuyen vi cung ddng thdi giam theo tren 26%. Kit qua md phdng tdi Uu dUde trinh bay trong bang 4. Chi tilt ve sU thay ddi chilu ddy cdc thanh tren khung xe dUpc t h i h i l n theo bdng 5. ^ - Regular Convergence: tilu chudn hdi ty
TAP CHI C O KHi V I £ T NAM, Sd 7 nSm 2013
Bdng 5. Chiiu ddy tUng loai thanh thep tren khungxe.
Loai
Thep hop ThepV
Thep tam thep
8 0 x 4 0 5 0 x 3 0 4 0 x 2 0 3 0 x 3 0
Kich thtfdc ban dau (mm)
3,2 2,3 2,3 3,0 2,3 4,5 6,0 9,0 12
Kich thddc t61 ifu(mm)
2,5 2,7 2,7 2,5 2,5 3,0 3,5 5,0 11
Tyletang/giam
(%)
-21.9 -1-17.4 -1-17.4 -16.7 -^8.7 -33.3 -41.7 -44.4 -8.3 e) Nhdn xet
Tfl kit qua thilt kl tdi Uu khung xe, gia tri flng suat ldn nhdt la 94,5 (MPa) nam trong gidi ban dan hdi cua vdt lilu 220 (MPa). Vi vdy, thilt ke hien tai la dam bao ben theo dieu kiln tai trpng dUa vao. Chuyen vi tren kit cau tUdng ddi nhd 2,71 (mm). Cu thi: Chieu day cac thanh tren khung xe thay ddi tang tai vi tri tap trung flng sudt cua thiet kl ban ddu 14,7%, lara flng sudt tap trung t^i vi tri nay giam cdn 69,2 (MPa); chilu day thay ddi ehu ylu tren cac thanh it chiu tdi trong, trong khi eac thanh san chiu lUc da tang chilu day do do chuyen vi giam cdn 1,95 (mm).
va flng dung d thi trUdng Vilt Nam. Ddng thdi ed trien vpng phat trien san pham hd trd ngUdi khuyet tat len xudng cau thang d nhflng ndi cdng cdng.
Kit qua tdi Uu hoa kich thudc cua he khung dUdc thUe hiln trong nghiin cflu lam giam khdi Ifldng he khung, qua do giam dfldc nang Ifldng di ehuyen hoac v ^ hanh thiet bi cung nhU giam sflc chiu tai cac kit cau phu cua khung ddn dd cap ben cau thang. 0ng suat tap trung va chuyin vi cua todn cd he dUdc giam mdt each dang kl nham tang kha nang bin cfla thiet bi.
5. L O I CAM ON 4. KET LUAN
Cdc nguyen ly, md hinh va cac nghien cflu vl v^n chuyen xe lan cho ngUdi khuylt tat len, xudng cau thang tren thi gidi dUdc trmh bay trong nghien eflu. fng dung phan mem md phdng nham tdi Uu hda trong vile thiet kl san phdm de phat hiln va hilu chinh nhflng kit cdu thiet kl chfla hdp ly dl tfl dd hoan thien san pham.
Nghien cflu thanh cdng se dUdc tien hanh chl tap thfl nghiim va cd kha nang phdt trien
Tae gia vd nhdm nghien cflu chan thanh cam dn sfl hd trd nhilt tinh cua Cdng ty Osawa (Nhat Ban) hd trd cung cap thdng tin, tai h|u ve thilt bi nay cung nhU tham gia trong vile tinh todn eac thdng sd phuc vu cho viec tinh todn t6i Uu. •
Ngdy nhan bai: 12/7/2013 Ngay phan biln: 20/7/2013
NgUdi phan bien; TS. TrUdng Vilt Anh, TrUdng Dai hpe Bach Khoa Ha Ndi.
TAP CHi CO KHi VIETNAM, Sd 7 nam 2013
Tai lilu tham khao:
[1]. Pham Duc Khoi, Thai Thi Thu Ha, "Determining the Stability Conditions ofthe Track-Driven Vehicle While Stair Climbing and Descending Journal of Science 8f Technology Development, Vol IS.No.Kl- 2012.
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TAP CHi C O KHi V I £ T NAM, Sd 7 ndm 2013