{"id":9347,"date":"2026-07-21T09:34:29","date_gmt":"2026-07-21T02:34:29","guid":{"rendered":"https:\/\/swoer.vn\/?p=9347"},"modified":"2026-07-21T09:34:29","modified_gmt":"2026-07-21T02:34:29","slug":"robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao","status":"publish","type":"post","link":"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/","title":{"rendered":"Kh\u1eafc ph\u1ee5c Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh khung \u0111\u1ee1 chu\u1ea9n k\u1ef9 thu\u1eadt"},"content":{"rendered":"<p><i><span style=\"font-weight: 400;\">Robot Delta \u0111ang v\u1eadn h\u00e0nh nh\u1ecbp nh\u00e0ng th\u00ec b\u1ea5t ng\u1edd khung b\u1ec7 \u0111\u1ee1 b\u00ean ngo\u00e0i b\u1ecb rung gi\u1eadt d\u1eef d\u1ed9i. Hi\u1ec7n t\u01b0\u1ee3ng n\u00e0y th\u01b0\u1eddng xu\u1ea5t hi\u1ec7n m\u1ed7i khi c\u00e1nh tay robot t\u0103ng t\u1ed1c ho\u1eb7c \u0111\u1ed5i h\u01b0\u1edbng g\u1eafp \u0111\u1ed9t ng\u1ed9t.<\/span><\/i><\/p>\n<p><i><span style=\"font-weight: 400;\">N\u1ebfu b\u1ea1n b\u1ecf qua s\u1ef1 c\u1ed1 n\u00e0y, h\u1eadu qu\u1ea3 s\u1ebd r\u1ea5t t\u1ed1n k\u00e9m. Rung l\u1eafc m\u1ea1nh khi\u1ebfn camera vision b\u1ecb l\u1ec7ch t\u1ecda \u0111\u1ed9 g\u1eafp. L\u1ef1c ch\u1ea5n \u0111\u1ed9ng li\u00ean t\u1ee5c l\u00e0m gi\u1ea3m tu\u1ed5i th\u1ecd b\u1ed9 gi\u1ea3m t\u1ed1c, g\u00e2y b\u00e1o l\u1ed7i qu\u00e1 t\u1ea3i \u0111\u1ed9ng c\u01a1 (Overload) v\u00e0 th\u1eadm ch\u00ed l\u00e0m x\u00e9 n\u1ee9t c\u00e1c m\u1ed1i h\u00e0n khung b\u1ec7.<\/span><\/i><\/p>\n<p><i><span style=\"font-weight: 400;\">V\u1eady khi <\/span><\/i><b><i>Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh khung \u0111\u1ee1 s\u1eeda th\u1ebf n\u00e0o<\/i><\/b><i><span style=\"font-weight: 400;\"> \u0111\u1ec3 d\u1ee9t \u0111i\u1ec3m s\u1ef1 c\u1ed1? <\/span><\/i><a href=\"https:\/\/swoer.vn\/en\/contact\/https:\/\/swoer.vn\/contact\/\"><i><span style=\"font-weight: 400;\">SWOER Vietnam<\/span><\/i><\/a><i><span style=\"font-weight: 400;\"> s\u1ebd h\u01b0\u1edbng d\u1eabn b\u1ea1n b\u00f3c t\u00e1ch nguy\u00ean nh\u00e2n v\u00e0 th\u1ef1c hi\u1ec7n t\u1eebng b\u01b0\u1edbc kh\u1eafc ph\u1ee5c chu\u1ea9n k\u1ef9 thu\u1eadt ngay d\u01b0\u1edbi \u0111\u00e2y.<\/span><\/i><\/p>\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_82_2 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewbox=\"0 0 24 24\" version=\"1.2\" baseprofile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/#Nguyen_nhan_vi_sao_khung_do_Robot_Delta_bi_rung_lac_manh\" >Nguy\u00ean nh\u00e2n v\u00ec sao khung \u0111\u1ee1 Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/#Huong_dan_chi_tiet_Robot_Delta_bi_rung_lac_manh_khung_do_sua_the_nao\" >H\u01b0\u1edbng d\u1eabn chi ti\u1ebft Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh khung \u0111\u1ee1 s\u1eeda th\u1ebf n\u00e0o?<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/#Buoc_1_Gia_co_ket_cau_co_khi_khung_be\" >B\u01b0\u1edbc 1: Gia c\u1ed1 k\u1ebft c\u1ea5u c\u01a1 kh\u00ed khung b\u1ec7<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/#Buoc_2_Toi_uu_quy_dao_di_chuyen_trong_chuong_trinh\" >B\u01b0\u1edbc 2: T\u1ed1i \u01b0u qu\u1ef9 \u0111\u1ea1o di chuy\u1ec3n trong ch\u01b0\u01a1ng tr\u00ecnh<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/#Buoc_3_Tinh_chinh_lai_thong_so_Driver_Servo\" >B\u01b0\u1edbc 3: Tinh ch\u1ec9nh l\u1ea1i th\u00f4ng s\u1ed1 Driver Servo<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/#Buoc_4_Giam_khoi_luong_cum_gap_cuoi\" >B\u01b0\u1edbc 4: Gi\u1ea3m kh\u1ed1i l\u01b0\u1ee3ng c\u1ee5m g\u1eafp cu\u1ed1i<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/#Bi_quyet_cap_lieu_on_dinh_giup_Robot_Delta_van_hanh_em_ai\" >B\u00ed quy\u1ebft c\u1ea5p li\u1ec7u \u1ed5n \u0111\u1ecbnh gi\u00fap Robot Delta v\u1eadn h\u00e0nh \u00eam \u00e1i<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/#Ket_luan\" >Conclude<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/#Lien_he_voi_chung_toi\" >Contact us<\/a><\/li><\/ul><\/nav><\/div>\n<h2><span class=\"ez-toc-section\" id=\"Nguyen_nhan_vi_sao_khung_do_Robot_Delta_bi_rung_lac_manh\"><\/span><span style=\"font-weight: 400;\">Nguy\u00ean nh\u00e2n v\u00ec sao khung \u0111\u1ee1 Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">Tr\u01b0\u1edbc khi b\u1eaft tay v\u00e0o s\u1eeda ch\u1eefa, k\u1ef9 s\u01b0 b\u1ea3o tr\u00ec c\u1ea7n khoanh v\u00f9ng ch\u00ednh x\u00e1c g\u1ed1c r\u1ec5 g\u00e2y ra ch\u1ea5n \u0111\u1ed9ng:<\/span><\/p>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Hi\u1ec7n t\u01b0\u1ee3ng c\u1ed9ng h\u01b0\u1edfng t\u1ea7n s\u1ed1 (<\/b><a href=\"https:\/\/en.wikipedia.org\/wiki\/Resonance\" target=\"_blank\" rel=\"noopener\"><b>Resonance<\/b><\/a><b>):<\/b><span style=\"font-weight: 400;\"> T\u1ea7n s\u1ed1 \u0111\u1ea3o chi\u1ec1u g\u1eafp th\u1ea3 c\u1ee7a robot v\u00f4 t\u00ecnh tr\u00f9ng v\u1edbi t\u1ea7n s\u1ed1 dao \u0111\u1ed9ng ri\u00eang c\u1ee7a khung th\u00e9p. Hi\u1ec7n t\u01b0\u1ee3ng n\u00e0y khi\u1ebfn bi\u00ean \u0111\u1ed9 rung b\u1ecb khu\u1ebfch \u0111\u1ea1i l\u00ean g\u1ea5p nhi\u1ec1u l\u1ea7n.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>K\u1ebft c\u1ea5u khung b\u1ec7 thi\u1ebfu \u0111\u1ed9 c\u1ee9ng v\u1eefng (<\/b><a href=\"https:\/\/en.wikipedia.org\/wiki\/Rigidity\" target=\"_blank\" rel=\"noopener\"><b>Rigidity<\/b><\/a><b>):<\/b><span style=\"font-weight: 400;\"> Khung \u0111\u1ee1 s\u1eed d\u1ee5ng th\u00e9p h\u1ed9p qu\u00e1 m\u1ecfng, thi\u1ebft k\u1ebf thi\u1ebfu c\u00e1c thanh gi\u1eb1ng ch\u00e9o ch\u1ecbu l\u1ef1c ho\u1eb7c bu-l\u00f4ng ch\u00e2n \u0111\u1ebf xu\u1ed1ng s\u00e0n b\u00ea t\u00f4ng b\u1ecb r\u01a1 l\u1ecfng.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>C\u00e0i \u0111\u1eb7t th\u00f4ng s\u1ed1 Servo qu\u00e1 &#8220;g\u1eaft&#8221; (<\/b><a href=\"https:\/\/en.wiktionary.org\/wiki\/overgain\" target=\"_blank\" rel=\"noopener\"><b>Over-Gained<\/b><\/a><b>):<\/b><span style=\"font-weight: 400;\"> H\u1ec7 s\u1ed1 khu\u1ebfch \u0111\u1ea1i tr\u00ean Driver Servo c\u00e0i qu\u00e1 cao l\u00e0m \u0111\u1ed9ng c\u01a1 ph\u1ea3n \u1ee9ng qu\u00e1 nh\u1ea1y, t\u1ea1o ra c\u00e1c c\u00fa gi\u1eadt l\u1ef1c l\u1edbn khi d\u1eebng \u0111\u1ed9t ng\u1ed9t.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Qu\u1ef9 \u0111\u1ea1o di chuy\u1ec3n vu\u00f4ng g\u00f3c:<\/b><span style=\"font-weight: 400;\"> L\u1eadp tr\u00ecnh \u0111\u01b0\u1eddng \u0111i g\u00f3c vu\u00f4ng \u00e9p c\u00e1nh tay robot ph\u1ea3i kh\u1ef1ng l\u1ea1i ho\u00e0n to\u00e0n r\u1ed3i v\u1ecdt \u0111i. L\u1ef1c qu\u00e1n t\u00ednh ng\u01b0\u1ee3c c\u1ef1c l\u1edbn n\u00e0y s\u1ebd x\u1ea3 tr\u1ef1c ti\u1ebfp v\u00e0o khung \u0111\u1ee1.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Dung sai kh\u1edbp n\u1ed1i c\u01a1 kh\u00ed:<\/b><span style=\"font-weight: 400;\"> C\u00e1c kh\u1edbp n\u1ed1i c\u1ea7u (<\/span><a href=\"https:\/\/en.wikipedia.org\/wiki\/Ball-and-socket_joint\" target=\"_blank\" rel=\"noopener\"><span style=\"font-weight: 400;\">Ball joints<\/span><\/a><span style=\"font-weight: 400;\">), v\u00f2ng bi ho\u1eb7c b\u1ed9 gi\u1ea3m t\u1ed1c b\u1ecb m\u00f2n sau th\u1eddi gian d\u00e0i v\u1eadn h\u00e0nh, t\u1ea1o ra \u0111\u1ed9 d\u01a1 c\u01a1 h\u1ecdc.<\/span><\/li>\n<\/ul>\n<figure id=\"attachment_9349\" aria-describedby=\"caption-attachment-9349\" style=\"width: 1366px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-9349 size-full\" src=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Nguyen-nhan-vi-sao-khung-do-Robot-Delta-bi-rung-lac-manh.png\" alt=\"Nguy\u00ean nh\u00e2n v\u00ec sao khung \u0111\u1ee1 Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh\" width=\"1366\" height=\"768\" title=\"\" srcset=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Nguyen-nhan-vi-sao-khung-do-Robot-Delta-bi-rung-lac-manh.png 1366w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Nguyen-nhan-vi-sao-khung-do-Robot-Delta-bi-rung-lac-manh-300x169.png 300w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Nguyen-nhan-vi-sao-khung-do-Robot-Delta-bi-rung-lac-manh-1024x576.png 1024w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Nguyen-nhan-vi-sao-khung-do-Robot-Delta-bi-rung-lac-manh-768x432.png 768w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Nguyen-nhan-vi-sao-khung-do-Robot-Delta-bi-rung-lac-manh-18x10.png 18w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Nguyen-nhan-vi-sao-khung-do-Robot-Delta-bi-rung-lac-manh-600x337.png 600w\" sizes=\"auto, (max-width: 1366px) 100vw, 1366px\" \/><figcaption id=\"caption-attachment-9349\" class=\"wp-caption-text\">Nguy\u00ean nh\u00e2n v\u00ec sao khung \u0111\u1ee1 Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh<\/figcaption><\/figure>\n<h2><span class=\"ez-toc-section\" id=\"Huong_dan_chi_tiet_Robot_Delta_bi_rung_lac_manh_khung_do_sua_the_nao\"><\/span><span style=\"font-weight: 400;\">H\u01b0\u1edbng d\u1eabn chi ti\u1ebft Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh khung \u0111\u1ee1 s\u1eeda th\u1ebf n\u00e0o?<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">\u0110\u1ec3 tri\u1ec7t ti\u00eau ho\u00e0n to\u00e0n hi\u1ec7n t\u01b0\u1ee3ng rung l\u1eafc, b\u1ea1n h\u00e3y th\u1ef1c hi\u1ec7n l\u1ea7n l\u01b0\u1ee3t theo 4 b\u01b0\u1edbc x\u1eed l\u00fd d\u01b0\u1edbi \u0111\u00e2y:<\/span><\/p>\n<h3><span class=\"ez-toc-section\" id=\"Buoc_1_Gia_co_ket_cau_co_khi_khung_be\"><\/span><span style=\"font-weight: 400;\">B\u01b0\u1edbc 1: Gia c\u1ed1 k\u1ebft c\u1ea5u c\u01a1 kh\u00ed khung b\u1ec7<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>H\u00e0n b\u1ed5 sung thanh gi\u1eb1ng ch\u00e9o:<\/b><span style=\"font-weight: 400;\"> B\u1ea1n h\u00e3y h\u00e0n th\u00eam c\u00e1c thanh th\u00e9p gi\u1eb1ng ch\u00e9o \u0111\u1ec3 bi\u1ebfn c\u00e1c khung h\u00ecnh ch\u1eef nh\u1eadt th\u00e0nh k\u1ebft c\u1ea5u h\u00ecnh tam gi\u00e1c. C\u1ea5u tr\u00fac tam gi\u00e1c ch\u1ecbu l\u1ef1c xo\u1eafn t\u1ed1t h\u01a1n nhi\u1ec1u l\u1ea7n.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Si\u1ebft ch\u1eb7t li\u00ean k\u1ebft ch\u00e2n \u0111\u1ebf:<\/b><span style=\"font-weight: 400;\"> Ki\u1ec3m tra to\u00e0n b\u1ed9 bu-l\u00f4ng n\u1edf b\u1eaft xu\u1ed1ng s\u00e0n nh\u00e0 x\u01b0\u1edfng. B\u1ed5 sung th\u00eam c\u00e1c ch\u00e2n cao su gi\u1ea3m ch\u1ea5n chuy\u00ean d\u1ee5ng ch\u1ecbu t\u1ea3i n\u1eb7ng \u0111\u1ec3 tri\u1ec7t ti\u00eau ch\u1ea5n \u0111\u1ed9ng truy\u1ec1n xu\u1ed1ng m\u1eb7t s\u00e0n.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Buoc_2_Toi_uu_quy_dao_di_chuyen_trong_chuong_trinh\"><\/span><span style=\"font-weight: 400;\">B\u01b0\u1edbc 2: T\u1ed1i \u01b0u qu\u1ef9 \u0111\u1ea1o di chuy\u1ec3n trong ch\u01b0\u01a1ng tr\u00ecnh<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Bo tr\u00f2n g\u00f3c chuy\u1ec3n \u0111\u1ed9ng:<\/b><span style=\"font-weight: 400;\"> Chuy\u1ec3n to\u00e0n b\u1ed9 \u0111\u01b0\u1eddng \u0111i g\u00f3c vu\u00f4ng sang d\u1ea1ng \u0111\u01b0\u1eddng cong Parabol ho\u1eb7c bo tr\u00f2n g\u00f3c. Robot s\u1ebd l\u01b0\u1edbt qua c\u00e1c \u0111i\u1ec3m chuy\u1ec3n h\u01b0\u1edbng m\u00e0 kh\u00f4ng b\u1ecb kh\u1ef1ng l\u1ea1i.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>C\u00e0i \u0111\u1eb7t t\u0103ng\/gi\u1ea3m t\u1ed1c m\u1ec1m:<\/b><span style=\"font-weight: 400;\"> Thay v\u00ec d\u00f9ng gia t\u1ed1c tuy\u1ebfn t\u00ednh, b\u1ea1n h\u00e3y b\u1eadt ch\u1ebf \u0111\u1ed9 S-curve trong b\u1ed9 \u0111i\u1ec1u khi\u1ec3n. H\u00e0m S-curve gi\u00fap m\u01b0\u1ee3t h\u00f3a th\u1eddi \u0111i\u1ec3m b\u1eaft \u0111\u1ea7u v\u00e0 k\u1ebft th\u00fac chuy\u1ec3n \u0111\u1ed9ng, gi\u00fap tri\u1ec7t ti\u00eau qu\u00e1n t\u00ednh \u0111\u1ed9t ng\u1ed9t.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Buoc_3_Tinh_chinh_lai_thong_so_Driver_Servo\"><\/span><span style=\"font-weight: 400;\">B\u01b0\u1edbc 3: Tinh ch\u1ec9nh l\u1ea1i th\u00f4ng s\u1ed1 Driver Servo<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Ch\u1ea1y l\u1ea1i Auto-Tuning:<\/b><span style=\"font-weight: 400;\"> S\u1eed d\u1ee5ng ch\u1ee9c n\u0103ng t\u1ef1 \u0111\u1ed9ng tinh ch\u1ec9nh c\u1ee7a Driver \u0111\u1ec3 m\u00e1y t\u1ef1 t\u00ednh to\u00e1n l\u1ea1i t\u1ea3i tr\u1ecdng th\u1ef1c t\u1ebf. N\u1ebfu khung v\u1eabn rung, b\u1ea1n h\u00e3y gi\u1ea3m nh\u1eb9 h\u1ec7 s\u1ed1 Gain v\u1ecb tr\u00ed ho\u1eb7c Gain t\u1ed1c \u0111\u1ed9.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>K\u00edch ho\u1ea1t b\u1ed9 l\u1ecdc Notch Filter:<\/b><span style=\"font-weight: 400;\"> B\u1eadt b\u1ed9 l\u1ecdc t\u1ea7n s\u1ed1 tr\u00ean Driver Servo \u0111\u1ec3 tri\u1ec7t ti\u00eau \u0111\u00fang d\u1ea3i t\u1ea7n s\u1ed1 g\u00e2y c\u1ed9ng h\u01b0\u1edfng khung.<\/span><\/li>\n<\/ul>\n<h3><span class=\"ez-toc-section\" id=\"Buoc_4_Giam_khoi_luong_cum_gap_cuoi\"><\/span><span style=\"font-weight: 400;\">B\u01b0\u1edbc 4: Gi\u1ea3m kh\u1ed1i l\u01b0\u1ee3ng c\u1ee5m g\u1eafp cu\u1ed1i<\/span><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><span style=\"font-weight: 400;\">Thay th\u1ebf c\u00e1c c\u1ee5m \u0111\u1ed3 g\u00e1 kim lo\u1ea1i n\u1eb7ng b\u1eb1ng ch\u1ea5t li\u1ec7u nh\u00f4m Anodized ho\u1eb7c nh\u1ef1a in 3D ch\u1ecbu l\u1ef1c. Tay g\u1eafp c\u00e0ng nh\u1eb9 th\u00ec l\u1ef1c qu\u00e1n t\u00ednh x\u1ea3 v\u1ec1 khung \u0111\u1ee1 c\u00e0ng nh\u1ecf.<\/span><\/li>\n<\/ul>\n<figure id=\"attachment_9350\" aria-describedby=\"caption-attachment-9350\" style=\"width: 1366px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-9350 size-full\" src=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Huong-dan-chi-tiet-Robot-Delta-bi-rung-lac-manh-khung-do-sua-the-nao.png\" alt=\"H\u01b0\u1edbng d\u1eabn chi ti\u1ebft Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh khung \u0111\u1ee1 s\u1eeda th\u1ebf n\u00e0o?\" width=\"1366\" height=\"768\" title=\"\" srcset=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Huong-dan-chi-tiet-Robot-Delta-bi-rung-lac-manh-khung-do-sua-the-nao.png 1366w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Huong-dan-chi-tiet-Robot-Delta-bi-rung-lac-manh-khung-do-sua-the-nao-300x169.png 300w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Huong-dan-chi-tiet-Robot-Delta-bi-rung-lac-manh-khung-do-sua-the-nao-1024x576.png 1024w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Huong-dan-chi-tiet-Robot-Delta-bi-rung-lac-manh-khung-do-sua-the-nao-768x432.png 768w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Huong-dan-chi-tiet-Robot-Delta-bi-rung-lac-manh-khung-do-sua-the-nao-18x10.png 18w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Huong-dan-chi-tiet-Robot-Delta-bi-rung-lac-manh-khung-do-sua-the-nao-600x337.png 600w\" sizes=\"auto, (max-width: 1366px) 100vw, 1366px\" \/><figcaption id=\"caption-attachment-9350\" class=\"wp-caption-text\">H\u01b0\u1edbng d\u1eabn chi ti\u1ebft Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh khung \u0111\u1ee1 s\u1eeda th\u1ebf n\u00e0o?<\/figcaption><\/figure>\n<h2><span class=\"ez-toc-section\" id=\"Bi_quyet_cap_lieu_on_dinh_giup_Robot_Delta_van_hanh_em_ai\"><\/span><span style=\"font-weight: 400;\">B\u00ed quy\u1ebft c\u1ea5p li\u1ec7u \u1ed5n \u0111\u1ecbnh gi\u00fap Robot Delta v\u1eadn h\u00e0nh \u00eam \u00e1i<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">B\u00ean c\u1ea1nh ph\u1ea7n c\u1ee9ng robot, ngu\u1ed3n ph\u00f4i \u0111\u1ea7u v\u00e0o kh\u00f4ng \u0111\u1ec1u c\u0169ng l\u00e0 nguy\u00ean nh\u00e2n gi\u00e1n ti\u1ebfp g\u00e2y rung l\u1eafc khung \u0111\u1ee1. Khi ph\u00f4i \u0111\u1ee9t qu\u00e3ng, robot ph\u1ea3i li\u00ean t\u1ee5c t\u0103ng t\u1ed1c \u0111u\u1ed5i ph\u00f4i r\u1ed3i d\u1eebng \u0111\u1ed9t ng\u1ed9t ch\u1edd ph\u00f4i m\u1edbi, t\u1ea1o ra c\u00e1c c\u00fa gi\u1eadt c\u1ee5c li\u00ean t\u1ee5c.<\/span><\/p>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Duy tr\u00ec d\u00f2ng ph\u00f4i tu\u1ea7n ho\u00e0n:<\/b><span style=\"font-weight: 400;\"> Vi\u1ec7c t\u00edch h\u1ee3p <\/span><b>m\u00e2m rung c\u1ea5p li\u1ec7u SWOER<\/b><span style=\"font-weight: 400;\"> gi\u00fap t\u1ef1 \u0111\u1ed9ng x\u1ebfp h\u00e0ng, l\u1eadt \u0111\u00fang chi\u1ec1u v\u00e0 \u0111\u1ea9y ph\u00f4i ra v\u1ecb tr\u00ed g\u1eafp v\u1edbi v\u1eadn t\u1ed1c \u0111\u1ec1u \u0111\u1eb7n 100%.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"1\"><b>Tri\u1ec7t ti\u00eau th\u1eddi gian ch\u1edd:<\/b><span style=\"font-weight: 400;\"> D\u00f2ng ph\u00f4i m\u01b0\u1ee3t m\u00e0 gi\u00fap robot duy tr\u00ec v\u1eadn t\u1ed1c di chuy\u1ec3n \u1ed5n \u0111\u1ecbnh, kh\u00f4ng b\u1ecb n\u1ea3y nh\u1ecbp. \u0110i\u1ec1u n\u00e0y gi\u00fap tri\u1ec7t ti\u00eau c\u00e1c c\u00fa v\u1ecdt gia t\u1ed1c b\u1ea5t ng\u1edd, b\u1ea3o v\u1ec7 khung b\u1ec7 v\u00e0 k\u00e9o d\u00e0i tu\u1ed5i th\u1ecd cho to\u00e0n h\u1ec7 th\u1ed1ng.<\/span><\/li>\n<\/ul>\n<figure id=\"attachment_9351\" aria-describedby=\"caption-attachment-9351\" style=\"width: 1366px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-9351 size-full\" src=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Bi-quyet-cap-lieu-on-dinh-giup-Robot-Delta-van-hanh-em-ai.png\" alt=\"B\u00ed quy\u1ebft c\u1ea5p li\u1ec7u \u1ed5n \u0111\u1ecbnh gi\u00fap Robot Delta v\u1eadn h\u00e0nh \u00eam \u00e1i\" width=\"1366\" height=\"768\" title=\"\" srcset=\"https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Bi-quyet-cap-lieu-on-dinh-giup-Robot-Delta-van-hanh-em-ai.png 1366w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Bi-quyet-cap-lieu-on-dinh-giup-Robot-Delta-van-hanh-em-ai-300x169.png 300w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Bi-quyet-cap-lieu-on-dinh-giup-Robot-Delta-van-hanh-em-ai-1024x576.png 1024w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Bi-quyet-cap-lieu-on-dinh-giup-Robot-Delta-van-hanh-em-ai-768x432.png 768w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Bi-quyet-cap-lieu-on-dinh-giup-Robot-Delta-van-hanh-em-ai-18x10.png 18w, https:\/\/swoer.vn\/wp-content\/uploads\/2026\/07\/Bi-quyet-cap-lieu-on-dinh-giup-Robot-Delta-van-hanh-em-ai-600x337.png 600w\" sizes=\"auto, (max-width: 1366px) 100vw, 1366px\" \/><figcaption id=\"caption-attachment-9351\" class=\"wp-caption-text\">B\u00ed quy\u1ebft c\u1ea5p li\u1ec7u \u1ed5n \u0111\u1ecbnh gi\u00fap Robot Delta v\u1eadn h\u00e0nh \u00eam \u00e1i<\/figcaption><\/figure>\n<h2><span class=\"ez-toc-section\" id=\"Ket_luan\"><\/span><span style=\"font-weight: 400;\">Conclude<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><span style=\"font-weight: 400;\">T\u00f3m l\u1ea1i, b\u00e0i to\u00e1n <\/span><b>Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh khung \u0111\u1ee1 s\u1eeda th\u1ebf n\u00e0o<\/b><span style=\"font-weight: 400;\"> \u0111\u00f2i h\u1ecfi s\u1ef1 ph\u1ed1i h\u1ee3p \u0111\u1ed3ng b\u1ed9 gi\u1eefa gia c\u1ed1 c\u01a1 kh\u00ed, t\u1ed1i \u01b0u ph\u1ea7n m\u1ec1m \u0111i\u1ec1u khi\u1ec3n v\u00e0 chu\u1ea9n h\u00f3a d\u00f2ng ph\u00f4i \u0111\u1ea7u v\u00e0o.<\/span><\/p>\n<p><a href=\"https:\/\/swoer.vn\/en\/contact\/\"><b>SWOER Vietnam<\/b><\/a><span style=\"font-weight: 400;\"> kh\u00f4ng ch\u1ec9 s\u1ea3n xu\u1ea5t c\u00e1c h\u1ec7 th\u1ed1ng ph\u1ec5u rung c\u1ea5p li\u1ec7u ch\u1ea5t l\u01b0\u1ee3ng cao, ch\u00fang t\u00f4i c\u00f2n s\u1edf h\u1eefu \u0111\u1ed9i ng\u0169 k\u1ef9 s\u01b0 R&amp;D gi\u00e0u kinh nghi\u1ec7m v\u1ec1 robot c\u00f4ng nghi\u1ec7p. SWOER lu\u00f4n s\u1eb5n s\u00e0ng \u0111\u1ed3ng h\u00e0nh c\u00f9ng b\u1ea1n \u0111\u1ec3 x\u1eed l\u00fd tri\u1ec7t \u0111\u1ec3 m\u1ecdi s\u1ef1 c\u1ed1 k\u1ef9 thu\u1eadt tr\u00ean d\u00e2y chuy\u1ec1n.<\/span><\/p>\n<p><b>\t<div id=\"gap-99529293\" class=\"gap-element clearfix\" style=\"display:block; height:auto;\">\n\t\t\n<style>\n#gap-99529293 {\n  padding-top: 30px;\n}\n<\/style>\n\t<\/div>\n\t<\/b><\/p>\n<h2><span class=\"ez-toc-section\" id=\"Lien_he_voi_chung_toi\"><\/span><span style=\"font-weight: 400;\">Contact us<\/span><span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p><b>Please let us know your material size and required speed.<\/b><\/p>\n<p><b>\n<div class=\"wpcf7 no-js\" id=\"wpcf7-f280-o1\" lang=\"en-US\" dir=\"ltr\" data-wpcf7-id=\"280\">\n<div class=\"screen-reader-response\"><p role=\"status\" aria-live=\"polite\" aria-atomic=\"true\"><\/p> <ul><\/ul><\/div>\n<form action=\"\/en\/wp-json\/wp\/v2\/posts\/9347#wpcf7-f280-o1\" method=\"post\" class=\"wpcf7-form init\" aria-label=\"Contact form\" novalidate=\"novalidate\" data-status=\"init\" data-trp-original-action=\"\/en\/wp-json\/wp\/v2\/posts\/9347#wpcf7-f280-o1\">\n<div style=\"display: none;\">\n<input type=\"hidden\" name=\"_wpcf7\" value=\"280\" \/>\n<input type=\"hidden\" name=\"_wpcf7_version\" value=\"6.0.6\" \/>\n<input type=\"hidden\" name=\"_wpcf7_locale\" value=\"en_US\" \/>\n<input type=\"hidden\" name=\"_wpcf7_unit_tag\" value=\"wpcf7-f280-o1\" \/>\n<input type=\"hidden\" name=\"_wpcf7_container_post\" value=\"0\" \/>\n<input type=\"hidden\" name=\"_wpcf7_posted_data_hash\" value=\"\" \/>\n<\/div>\n<div class='custom_contact_style'>\n\t<div class=\"row row-small\">\n\t\t<div class=\"col medium-6 small-12 large-6\">\n\t\t\t<div class=\"col-inner\">\n\t\t\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-name\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-text wpcf7-validates-as-required\" aria-required=\"true\" aria-invalid=\"false\" placeholder=\"Name*\" value=\"\" type=\"text\" name=\"your-name\" \/><\/span>\n\t\t\t\t<\/p>\n\t\t\t<\/div>\n\t\t<\/div>\n\t\t<div class=\"col medium-6 small-12 large-6\">\n\t\t\t<div class=\"col-inner\">\n\t\t\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-email\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-email wpcf7-validates-as-required wpcf7-text wpcf7-validates-as-email\" aria-required=\"true\" aria-invalid=\"false\" placeholder=\"E-mail*\" value=\"\" type=\"email\" name=\"your-email\" \/><\/span>\n\t\t\t\t<\/p>\n\t\t\t<\/div>\n\t\t<\/div>\n\t<\/div>\n\t<div class='cus_contact_form_bottom'>\n\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-phone\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-text\" aria-invalid=\"false\" placeholder=\"Phone\" value=\"\" type=\"text\" name=\"your-phone\" \/><\/span>\n\t\t<\/p>\n\t<\/div>\n\t<div class='cus_contact_form_bottom'>\n\t\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-country\"><input size=\"40\" maxlength=\"400\" class=\"wpcf7-form-control wpcf7-text\" aria-invalid=\"false\" placeholder=\"Country\" value=\"\" type=\"text\" name=\"your-country\" \/><\/span>\n\t\t<\/p>\n\t<\/div>\n\t<p><span class=\"wpcf7-form-control-wrap\" data-name=\"your-message\"><textarea cols=\"40\" rows=\"10\" maxlength=\"2000\" class=\"wpcf7-form-control wpcf7-textarea wpcf7-validates-as-required\" aria-required=\"true\" aria-invalid=\"false\" placeholder=\"Your Message *\" name=\"your-message\"><\/textarea><\/span>\n\t<\/p>\n\t<div style=\"margin-bottom:10px;\">\n\t\t<p><span class=\"wpcf7-form-control-wrap kc_captcha cf7ic-toggle\" data-name=\"kc_captcha\"><span class=\"wpcf7-form-control wpcf7-radio\"><span class=\"captcha-image\" style=\"display: none;\"><span class=\"cf7ic_instructions\">Please prove you are human by selecting the<span> flag<\/span>.<\/span><label><input aria-label=\"1\" type=\"radio\" name=\"kc_captcha\" value=\"bot\" \/><svg width=\"50\" height=\"50\" aria-hidden=\"true\" role=\"img\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 576 512\"><path fill=\"currentColor\" d=\"M415 24c-53 0-103 42-127 65-24-23-74-65-127-65C70 24 16 77 16 166c0 72 67 133 69 135l187 181c9 8 23 8 32 0l187-180c2-3 69-64 69-136 0-89-54-142-145-142z\"\/><\/svg><\/label><label><input aria-label=\"2\" type=\"radio\" name=\"kc_captcha\" value=\"bot\" \/><svg width=\"50\" height=\"50\" aria-hidden=\"true\" role=\"img\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 576 512\"><path fill=\"currentColor\" d=\"M488 313v143c0 13-11 24-24 24H348c-7 0-12-5-12-12V356c0-7-5-12-12-12h-72c-7 0-12 5-12 12v112c0 7-5 12-12 12H112c-13 0-24-11-24-24V313c0-4 2-7 4-10l188-154c5-4 11-4 16 0l188 154c2 3 4 6 4 10zm84-61l-84-69V44c0-6-5-12-12-12h-56c-7 0-12 6-12 12v73l-89-74a48 48 0 00-61 0L4 252c-5 4-5 12-1 17l25 31c5 5 12 5 17 1l235-193c5-4 11-4 16 0l235 193c5 5 13 4 17-1l25-31c4-6 4-13-1-17z\"\/><\/svg><\/label><label><input aria-label=\"3\" type=\"radio\" name=\"kc_captcha\" value=\"kc_human\" \/><svg width=\"50\" height=\"50\" aria-hidden=\"true\" role=\"img\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewbox=\"0 0 512 512\"><path fill=\"currentColor\" d=\"M350 99c-54 0-98-35-166-35-25 0-47 4-68 12a56 56 0 004-24C118 24 95 1 66 0a56 56 0 00-34 102v386c0 13 11 24 24 24h16c13 0 24-11 24-24v-94c28-12 64-23 114-23 54 0 98 35 166 35 48 0 86-16 122-41 9-6 14-15 14-26V96c0-23-24-39-45-29-35 16-77 32-117 32z\"\/><\/svg><\/label>\r\n    <\/span>\r\n    <span style=\"display:none\">\r\n        <input type=\"text\" name=\"kc_honeypot\">\r\n    <\/span><\/span><\/span>\n\t\t<\/p>\n\t<\/div>\n\t<p><input class=\"wpcf7-form-control wpcf7-submit has-spinner\" type=\"submit\" value=\"Send Message\" \/>\n\t<\/p>\n<\/div><div class=\"wpcf7-response-output\" aria-hidden=\"true\"><\/div>\n<input type=\"hidden\" name=\"trp-form-language\" value=\"en\"\/><\/form>\n<\/div>\n<\/b><\/p>","protected":false},"excerpt":{"rendered":"<p>Robot Delta \u0111ang v\u1eadn h\u00e0nh nh\u1ecbp nh\u00e0ng th\u00ec b\u1ea5t ng\u1edd khung b\u1ec7 \u0111\u1ee1 b\u00ean ngo\u00e0i b\u1ecb rung gi\u1eadt d\u1eef d\u1ed9i. Hi\u1ec7n t\u01b0\u1ee3ng n\u00e0y th\u01b0\u1eddng xu\u1ea5t hi\u1ec7n m\u1ed7i khi c\u00e1nh tay robot t\u0103ng t\u1ed1c ho\u1eb7c \u0111\u1ed5i h\u01b0\u1edbng g\u1eafp \u0111\u1ed9t ng\u1ed9t. N\u1ebfu b\u1ea1n b\u1ecf qua s\u1ef1 c\u1ed1 n\u00e0y, h\u1eadu qu\u1ea3 s\u1ebd r\u1ea5t t\u1ed1n k\u00e9m. Rung l\u1eafc m\u1ea1nh [&#8230;]","protected":false},"author":3,"featured_media":9348,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-9347","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.0 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh khung \u0111\u1ee1 s\u1eeda th\u1ebf n\u00e0o? | SWOER<\/title>\n<meta name=\"description\" content=\"Kh\u1eafc ph\u1ee5c s\u1ef1 c\u1ed1 Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh khung \u0111\u1ee1 v\u1edbi 4 b\u01b0\u1edbc chu\u1ea9n k\u1ef9 thu\u1eadt: gia c\u1ed1 gi\u1eb1ng ch\u00e9o, ch\u1ec9nh S-curve, tinh ch\u1ec9nh Servo Gain\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/swoer.vn\/en\/robot-delta-bi-rung-lac-manh-khung-do-sua-the-nao\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Robot Delta b\u1ecb rung l\u1eafc m\u1ea1nh khung \u0111\u1ee1 s\u1eeda th\u1ebf n\u00e0o? 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