پديد آورنده :
افتخاري، مجتبي
عنوان :
تجزيه و تحليل ديناميك و كنترل مكانيزم استوارت با محركهاي دوراني به همراه ساخت نمونه آزمايشگاهي آن
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
نه، 104، [II]ص.: مصور، جدول، نمودار
استاد راهنما :
مهدي كشميري، محمدجعفر صديق
توصيفگر ها :
سينماتيك مستقيم و معكوس , نيروي مفاصل , فيدبك , استنتاج فازي , ميكرو كنترلر
استاد داور :
مصطفي غيور، سعيد ضيائي راد
تاريخ ورود اطلاعات :
1396/10/27
چكيده فارسي :
به فارسي انگليسي : قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Abstract In this thesis kinematics dynamics and control of a Stewart mechanism with rotaryactuators have been studied Kinematics equations were derived from the constraintequations algebraically as well as differentially The dynamic equations were developedwith the lagrange method for constrained systems Using the orthogonal complementmatrix the lagrange multipliers have been omitted and the equations of motion have beentransformed to the reduced form for the purpose of controller design The controller isdesigned using two approaches feedback linearization and neuro fuzzy method In theneuro fuzzy method the revolute link has been trained using a single arm motion as thetraining tool physical effects of the links and a platform have been replaced by a singleforce on the free end of the arm Training data were divided to several clusters by using asubtractive clustering algorithm For every cluster a fuzzy rule is derived so that the outputfollows its desired quantity In the last stage These rules were employed modified by utilizing back propagationalgorithm The effectiveness of the neuro fuzzy system has been approved by performingmultiple Finally a prototype of the mechanism has been built in order to analyze the kinematicbehavior of the mechanism
استاد راهنما :
مهدي كشميري، محمدجعفر صديق
استاد داور :
مصطفي غيور، سعيد ضيائي راد
