مدلسازي و كنترل ربات كابلي سه درجه آزادي با ساختار جديد

چكيده انگليسي :

Modeling and Control of a 3 DOF Cable Driven Manipulator with New Architecture Poulad Moradi Shahmansouri p moradis@gmail com Date of Submission 2010 08 11 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisors Dr Mostafa Ghayour and Dr Abbas Fattah ghayour@cc iut ac ir and fattah@cc iut ac ir Abstract Cable robot is a type of parallel robots which common rigid links are replaced with cables therein This causes reduction in expenses and time of robot manufacturing assembly and erection startup and maintenance However cables unidirectional actuating force makes great challenge for the researches to control the robot This thesis deals with kinematics dynamics and control of a three degree of freedom roll pitch and heave cable driven parallel robot with new architecture The motivation behind this work was to derive the kinematics and dynamics equations and implement a suitable control law on a new cable robot The main contribution of the work was to find the kinematic and motion equations of the robot and apply suitable control laws so that stability of the system to be kept Also the simulation of a closed loop system has been studied Meanwhile feasible workspace has been sketched As the result following to develop the kinematic equations motion equations has been derived by using Newton Euler method It is evident that zero consideration of the accelerations yields static equations Afterwards nonlinear robust control laws on cables have been found through utilizing sliding mode control method This is accompanied by proof of asymptotically stability of the robot during tracking paths which cable tensions are maintained positive thereon The main innovation in this thesis has been to govern an actuator in order to maintain positive tension in cables as well as decrease the actuation forces improve system response and increase stability In fact it has been shown that this boom guarantees permanent positive tension in the cables and optimizes the cable forces The control law of this actuator has been expressed here Finally the effectiveness of the proposal has been investigated by using numerical simulation that has been done through MATLAB and SIMULINK algorithms So eliminating chattering effect has been firstly indicated Next the good effectiveness of increasing boom force on cable tensions has been shown accompanied by the improvement of feasible work space For the next step derived boom control law has been utilized and positive tension guarantee as well as optimization of them has been well demonstrated Good response of system also has been shown during tracking different paths and under disturbance In this regard paths with different starting points with respect to the robot initial condition have been governed Meanwhile desired paths tracking speeds have been increased but the robot has responded well At last by considering passivity of cable tensions feasible work space has been sketched and our earlier statement was demonstrated that through utilizing controlled boom the cable robot work space and that of the equivalent parallel robot are the same Results arising from this thesis can be a good basis to design new cable robots Keywords Cable Driven Robots Kinematics Dynamics Sliding Mode Control Boom Force Feasible Work Space

مرادي شاه منصوري، پولاد

مدلسازي و كنترل ربات كابلي سه درجه آزادي با ساختار جديد

سينماتيك معكوس , روش نيوتن-اويلر , روش كنترل مودهاي لغزشي , بوم