5503

5163

كارشناسي ارشد

طراحي جامدات

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1389

دوازده،113ص.: مصور،جدول،نمودار

ص.ع.به فارسي و انگليسي

مصطفي غيور، عباس فتاح

11/8/89

حسن موسوي، مهدي كشميري

مهندسي مكانيك

ID5163

به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي

Dynamics and Control of a 4DOF Parallel Manipulator with a New Architecture Yasser Amoushahi Y Amoshahi@me iut ac ir Date of Submission May 2010 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisors Mostafa Ghayour Abbas Fattah Ghayour@cc iut ac ir fattah@cc iut ac irAbstract In this thesis the kinematics Isotropic Design Dynamics and Control of a four degree of freedom 4DOF parallel manipulator with a new architecture supposed to be used as a moving mechanism in a flight simulatorproject is studied This manipulator consists of a base platform BP and a moving platform MP which is connected by means offour legs Each leg is connected to BP by a universal joint and to the MP by a spherical joint There is also a centralleg connected to MP by a spherical joint and fixed to the BP The role of the central leg is to provide fourindependent DOF for the manipulator at hand Inverse kinematics problems were studied for the problem inposition velocity and acceleration The minimum numbers of equations of motion of the manipulator have beenderived using the natural orthogonal complement methodology Numerical examples are solved for the differentmotions of MP in order to obtain the motion of the legs and the actuator forces of the legs The effects of leg massesand position of the center of mass of MP on the results have been examined The present study can be used in designand control of this type of manipulator Moreover it can further display the potential applications of the proposedmanipulator as a moving mechanism in flight simulators Isotropic conditions for Jacobian matrices which relate the input joint velocity and output Cartesian velocity aredetermined separately using a pure symbolic method Thereafter upon determining the isotropic conditions formanipulator the variation of the kinematic condition index is studied with respect to the motion of the movingplatform to show how far the manipulator is from being isotropic Finally the isotropic conditions are obtainednumerically for manipulator with use kinematics condition index The dynamical equation of motion of the manipulator are determined using Newton Euler s equations andapplying the natural orthogonal complement NOC method and presents a systematic methodology for solving theinverse dynamics of the robot Based on the principle of virtual work and the concept of link Jacobian matrices amethodology for deriving the dynamical equations of motion is developed It is shown that the dynamics of themanipulator can be reduced to solving a system of four linear equations in four unknowns A computationalalgorithm for solving the inverse dynamics of the manipulator is developed and several trajectories of the movingplatform are simulated and finally present a Proportional Integral Derivative PID Computed Torque Method CTM and Sliding Mod Control SMC approach for the motion control of this robot Keywords Parallel robot Natural Orthogonal Complement Isotropic design Principle virtual work Proportional Integral Derivative PID Computed Torque Method CTM Sliding Mod Control SMC

مصطفي غيور، عباس فتاح

حسن موسوي، مهدي كشميري