پديد آورنده :
مختاري، حسين
عنوان :
تجزيه و تحليل نقص در يك ربات استوارت 6 درجه آزادي با محرك هاي دوراني
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
ده، 89 ، [II] ص.: مصور ، نمودار
يادداشت :
ص. ع. به فارسي و انگليسي
استاد راهنما :
مهدي كشميري، محمد جعفر صديق
توصيفگر ها :
پسخور خطي PID , روش CTM , سنسور موقعيت، سرعت
استاد داور :
حسن موسوي، محمود سليمي
چكيده فارسي :
به فارسي و انگليسي: قابل رويت درنسخه ديجيتال
چكيده انگليسي :
AbstractNowadays utilization of robots is rapidly growing and their duties become more complex Hence reliability of robots is an important aspect of robotic engineering In risky andspecial applications control system of robot must have a proper fault detection andcompensation system to continue the robot operation and prevent damage to itsenvironment Usually to recover the system faults different types of redundancies is used In this thesis the problem of detection and compensation of four kinds of faults includingjoint position and velocity sensor faults and free swinging and lock joint faults areconsidered for a 6 DOF Stewart platform with revolution actuators A simple method hasbeen used to detect faults using analytical redundancy Compensation of sensor faults isstudied using essential kinematical constraints and platform sensors redundancy When joint lock fault occurs the mechanism degrees of freedom are reduced by one due tonew kinematical constraint Therefore system could not be controlled without errors Inthis thesis five degrees of freedom have been controlled by omitting one of the systemdegrees of freedom and calculating omitted degree of freedom in terms of other DOFs and new constraint constant amount of locked joint position In fact by design of newtrajectory system has been controlled although there was considerable error in thedependent DOF i e the omitted DOF When one of the actuators swings the above mentioned method for locked joint faultcompensation which concluded considerable error in one of DOFs is not usable becausethe system rapidly becomes singular Since new under actuated mechanism is not fullycontrollable A new approach has been used which controls system by controlling all ofDOFs by minimizing error summation in the entire path Optimal control method on thebase of Variational Calculus has been used to solve the problem This method has beeninvestigated in two links manipulator and a cooperative robot as well
استاد راهنما :
مهدي كشميري، محمد جعفر صديق
استاد داور :
حسن موسوي، محمود سليمي
