پديد آورنده :
جوادي، هومن
عنوان :
طراحي بهينه همزمان و شبيه سازي ربات جابجا كننده پلاك هاي بريده شده سنگ توسط دستگاه قله بر
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
مهندسي مكانيك
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
دوازده،92ص.: مصور،جدول،نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد راهنما :
عليرضا فدايي تهراني
استاد مشاور :
سعيد بهبهاني
توصيفگر ها :
صنعت سنگ , الگوريتم ژنتيك , طراحي گريپر , سيستم مكاترونيكي
تاريخ نمايه سازي :
29/8/89
استاد داور :
محمد دانش،مصطفي غيور
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Concurrent optimum design and simulation of a robot for transporting stone strips cut with stonecutter machine Hooman Javadi homanjavadi@gmail com 2010 06 20 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Dr A Fadai Tehrani mcjaft@cc iut ac ir Abstract Nowadays Robots are used in various industries European manufactures have improved the speed and quality of their products in stone industry by increasing the level of automation in factories and even stone mines Unfortunately stone industry has low advances in production or in usage of new machines in Iran This has weekend Iran s place in global market In this project a design of a robot is presented which improves production speed and decreases the wastes in the first stages of the production process The robot transports the stone strips which has been cut by stonecutter machine to the storage desk The design is in such a way that matches the old factories in Iran and well accepted by the manufactures Other than design of the gripper design of the robot takes place in two phases At the first stage structure actuators type controller type and trajectory are generally determined Structures with two three and four degrees of freedom are considered and seven different structures are presented Seven important criteria which have decisive effect to choose the structure are considered and by evaluating these criteria for each design candidate the best structure is chosen The best structure is a four degree of freedom Manipulator which has a structure similar to Scara robot Also a comparison between different types of actuators is presented and it is shown that permanent magnet AC motors with servo drive are the best choice to run the robot At the second stage defining the design parameters an optimization problem is constructed and the optimum solution is calculated In detail design phase a generalized concurrent design is used In concurrent design of mechatronic systems structure and controller of the system are designed simultaneously Additionary the parameters related the trajectory planning and location of the robot are considered in the optimization problem defined in this project In fact robot is designed by solving a general and comprehensive optimization problem A goal function is used to minimize the weight of the robot and torque force needed in robot s joints Four design parameters are related to the structure eleven parameters define the trajectory twelve design parameters are related to controller and two design parameters specify the location of the robot Eight constraints are defined to limit the position error of the end effectors deflection of the links and total time of the process and to prevent any collision between robot and stonecutter machine or stone block or storage desk According to the results and using available motor catalogues suitable actuators have been chosen and other design parameters have been calculated Key words Concurrent engineering robot stone industry optimization genetic algorithm
استاد راهنما :
عليرضا فدايي تهراني
استاد مشاور :
سعيد بهبهاني
استاد داور :
محمد دانش،مصطفي غيور
