CHNG I.

CAU TAO C CAU

1.1 nh ngha cac khai niem c ban.
I. nh ngha cac khai niem c ban.
1. Bac t do cua vat ran.
Bac t do cua vat ran la so chuyen ong oc lap hay so thong so oc lap can e xac nh v tr cua vat
ran.
a. Xet trng hp vat ran chuyen ong trong mat. Cac chuyen ong oc y
lap cua vat ran gom: (Tx, Ty, Qz).
Ty S
Nh vy, vat ran chuyen ong trong mat phang co 3 BTD.
Qz
O x
Tx

b. Xet trng hp vat ran chuyen ong trong khong gian. Cac chuyen Qy
ong oc lap cua vat ran gom: (Tx, Ty, Tz, Qx, Qy, Qz).
Ty
Nh vay, vat ran chuyen ong trong khong gian co 6 BTD. S

Qx
2. Khai niem ve khau. Tz
O
x
3. S noi ong, khp ong, thanh phan khp ong. Tx
S noi ong. Qz
Khp ong.
Thanh phan khp ong.
Phan loai khp ong:
Theo dang tiep xuc cua cac thanh phan khp ong.
* Khp loai thap: thanh phan khp ong la mat. Khp quay, khp tnh tien, khp cau, khp
vt thuoc khp loai thap. u iem cua khp loai thap la kha nang truyen tai ln, lau mon.
* Khp loai cao: thanh phan khp ong la iem hay ng. u iem cua khp loai cao thc
hien c nhng chuyen ong phc tap hn so vi khp loai thap.
Theo so bac t do b han che trong chuyen ong tng oi gia hai khau.
* Trong khong gian, chuyen ong cua khau la hp cua 6 chuyen ong n gian gom 3 tnh tien
va 3 quay. Khi c noi ong vi khau khac, so BTD b giam i. Theo phan loai cua vien s I.I.
Artobolepski, nhng khp ong nh vay c chia thanh 5 loai tuy theo so BTD b han che.
* Trng hp khau chuyen ong song phang, khi cha noi ong BTD la 3. Sau khi tham gia
noi ong so BTD co the la 2 hay 1. Nh vay trong mat phang ch co khp loai 4 han che 1 BTD va khp
loai 5 han che 2 BTD.

4. Chuoi ong va c cau.

Tap hp cac khau, c noi vi nhau bang cac khp ong, goi la chuoi ong.

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 Chuoi ong n gian - phc tap.
Chuoi ong kn - h.
Chuoi ong phang - chuoi ong khong gian.
Trong c cau, khau c gan vi he qui chieu dung e xac nh cac thong so chuyen ong cua cac
khau khac c goi la gia hay khau tnh hay khau co nh.
C cu n gian - phc tap.
C cu kn - h.
C cu phang - khong gian.
5. Lc o c cau.

1.2 Bac t do cua c cau.

Bac t do cua c cau la so kha nang chuyen ong oc lap hay so thong so oc lap can e xac nh v
tr cua c cau.
1. Trng hp c cau phang.
- Cong thc tnh bac t do cua c cau phang la:
W 3n (p 4 2p5 rtr rth ) w th
2. Trng hp c cau khong gian.
W 6n (p1 2p 2 3p 3 4p 4 5p 5 )
3. Bac t do tha, rang buoc tha, rang buoc trung.
- e xac nh c so bac t do tha, can phan tch ky chuyen ong cua cac khau trong c cau.
- e xac nh c so rang buoc tha, can phan tch ky ac iem hnh hoc cua c cau.
4. Khau dan, y ngha bac t do c cau.
BTD cua c cau la so thong so oc lap can e xac nh v tr cua c cau. Nhng thong so nay trc het
dung e xac nh v tr cua mot so khau, t o tm ra v tr cua cac khau con lai trong c cau.
Cho cac thong so xac nh v tr bien thien theo thi gian, ngha la cho c cau mot quy luat chuyen
ong t ben ngoai. Khau nhan quy luat chuyen ong goi la khau dan.
Thong thng khau dan noi vi khau co nh bang mot khp quay, nen ch can mot thong so xac nh
v tr. Noi chung c cau co bao nhieu bac t do th se co bay nhieu khau dan.
Trong tnh toan, e thuan tien trong viec giai cac bai toan ong hoc va ong lc hoc, thng chon khau
dan la khau co van toc khong oi hay van toc goc khong oi.
Trong c cau, ngoai khau dan va khau co nh (gia), cac khau con lai la khau b dan.
1.3 Nhom At Xua, xep loai c cau.
1. Nguyen ly tao thanh c cau.
Moi c cau c tao thanh bang cach noi khau dan vi khau co nh hay khau nao o cua c cau goc
vi khau co nh bang nhng chuoi ong co bac t do bang khong.
2. Nhom At-xua (hay nhom tnh nh).
Chuoi ong co W 3n 2p 5 0 va khong the tach thanh nhng nhom n gian hn cung co W = 0,
c goi la nhom At-xua hay nhom tnh nh.
Nhom At-xua c xep loai theo nguyen tac sau:
a. Nhng nhom khong cha chuoi ong kn:
- Nhom loai 2: gom cac nhom co 2 khau va 3 khp.
- Nhom loai 3: gom cac nhom co khau c s c noi vi cac khau khac cua nhom bang 3
khp ong.

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 b. Nhng nhom co cha chuoi ong kn: loai cua nhom la so canh cua chuoi ong kn n (khong
cha chuoi ong kn nao khac trong no) co nhieu canh nhat.

3. Xep loai c cau.

Xep loai c cau da tren nguyen tac sau:
- Khau dan la c cau loai 1, ch gom khau dan noi vi khau co nh bang khp loai 5. C cau loai 1
khong cha nhom tnh nh. ong c ien, tua binla c cau loai 1.
- Loai cua c cau la loai nhom At-xua cao nhat co trong c cau.
Nhng chu y khi tach nhom At-xua:
- Tach t nhng nhom xa khau dan en gan khau dan.
- Khi tach nhom ra khoi c cau, phan con lai phai la mot c cau hoan chnh, o la c cau goc.
- Bat au tach t nhom loai thap trc, neu khong c tach loai cao hn.
- Trong c cau co khp loai 4, can thay bang khp loai 5 trc khi tach nhom At-xua.

Thay khp loai 4 bang khp loai 5: can phai am bao c 2 ieu kien sau:
- Bao am bac t do khong oi. Chuoi ong n gian nhat gom 1 khau va 2 khp loai 5.
- Bao am chuyen ong tng oi gia 2 khau khong oi. Cac khp loai 5 thay cho khp loai 4 V
du ap dung.

A B A
B A B
A

A B A
B A B
A