3924

3702

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1386

هشت،[93]، [II] ص: مصور، جدول، نمودار

ص.ع. به: فارسي و انگليسي

مصطفي غيور

محمد جعفر صديق

5/3/87

مهدي كشميري، حسن موسوي

مهندسي مكانيك

ID3702

به فارسي و انگليسي: قابل رويت در نسخه ديجيتال

Abstract The research interest in flexible manipulators lightweight and large dimension robotic manipulators has increased significantly in recent years Major advantages of flexible manipulators include small mass fast motion and large force to mass ratio which are reflected directly in the reduced energy consumption increased productivity and enhanced payload capacity Flexible manipulators have important application in space exploration manufacturing automation construction mining hazardous operation and many other areas In the present research closed form equations of motion are derived for planar lightweight robot armwith two flexible link and revolute joints The kinematics model is based on standard frame transformation matrices describing both rigid rotationand flexible displacement under small deflection assumptions The Lagrangian approach is used to drivethe dynamic model of the manipulator robot Links are modeled as Euler Bernoulli beams with clamped mass boundary conditions The assumed modes method is adapted in order to obtain a finite dimensional model The associated eigenvalue problem is discussed and has been tried to obtain the exactdynamics model Finally a nonlinear control law has been proposed based lyaponove theory so that tipposition of flexible arm track the certain trajectory this control law has been developed to accountuncertainty parameter and adaptive nonlinear control law has been proposed too At last results of numerical simulation appears efficiently this method The mathematical model of thistwo link flexible arm is derived by using the Maple and Matlab package and two assumed mode shapesfor simulation has been used

مصطفي غيور

محمد جعفر صديق

مهدي كشميري، حسن موسوي