4382

4130

كارشناسي ارشد

طراحي كاربردي

اصفهان:دانشگاه صنعتي اصفهان ،دانشكده مكانيك

1387

ده ،110،[II]ص :مصور،جدول ،نمودار

ص.ع.به: فارسي وانگليسي

مهدي كشميري

محمد جعفرصديق

20/12/87

سعيد بهبهاني ،عباس فتاح

1396/09/07

كتابنامه

مهندسي مكانيك

ID4130

به فارسي وانگليسي :قابل رويت در نسخه ديجيتال

Dynamic Analysis and Control of Distributed Manipulation Systems Ali Elahidoost Elahidoost@me iut ac ir 10 12 2008 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDr Mehdi Keshmiri mehdik@cc iut ac irDr Mohammad Jafar SadighDr Mehdi KeshmiriAbstractDistributed manipulation systems generally consist of a large number of identical actuatorsarranged in a planar array combined with a control strategy to create net movement of anobject or objects placed on the array In this thesis at first the dynamics of a distributedmanipulation system is studied The governing equations of these systems are obtained bysome reasonable assumptions and evaluated for a four wheels system After the dynamic analysis the control method for the system is selected The problem isstudied for two different cases system with single degree of freedom and two degrees offreedom wheel Each of these cases is divided into position control simultaneous positionand orientation control and trajectory tracking in turn Controller parameters are determinedfor each of these cases individually An experimental setup is constructed for evaluation of the theoretical analyses Hardware andsoftware structure of this system and their function is explained Specifications of thesecomponents are summarily discussed after that The last part of the analysis is dedicated to comparison between results obtained fromexperimental tests and those of software simulations At the end some suggestions arepresented about the optimization of the system possible future works and furtherdevelopments Key WordsDistributed Manipulation Fuzzy Control Friction ModelingIntroductionMany applications require objects to be transported and manipulated in the plane Twoexisting methods of material transfer are conveyor belts and robotic manipulators Theconveyor belts are able to transfer many large heavy objects for long distances but lack theability to orient precisely and to reorder the objects Furthermore while conveyor belts allowobjects to be diverted to different destinations they are not well suited to merging objectsfrom different sources Robots on the other hand are able to precisely position and orientobjects but only one at a time and are limited by strength and reach The DistributedManipulation System combines the benefits of conveyor and robotics transport systems whileovercoming their limitations 1 Researches in the field of Distributed Manipulation Systems have been undertaken on allscales In the macroscopic scale two groups have done important researches in the field ofwheels positioning objects with friction forces 1 Luntz Messner and Choset developed a system called Virtual Vehicle that included a large number of wheels connected to electric motors This group used both open loop and closed loop control for positioning and orienting the object The main assumption

مهدي كشميري

محمد جعفرصديق

سعيد بهبهاني ،عباس فتاح