تحليل ديناميك برخورد ربات صفحه اي دو عضوي انعطاف پذير با محيط ثابت

چكيده انگليسي :

Anlaysis of Impact Dynamic of Flexible Two link Planner Robot with Stationary Environment Ramin Barari r barari@me iut ac ir Date of Submission 2011 04 25 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisor Mostafa Ghayour ghayour@cc iut ac irAbstractResearch interest in flexible manipulators lightweight and large length robotic manipulators has increasedsignificantly in recent years According to recent advances in using robots and human need to them withhigh speed and excellent quality the analysis flexible robot is objective The objective of the flexible robotdesign is to reach fast motion and high maneuverability compared to slow motion of rigid industrial robots 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 enhancedpayload capacity Many robotic applications involve interaction of the robot with its environment Examples include robotic assembly tasks and surface finishing operations such as deburring grinding chamfering and polishing etc In many of these applications the environment is an object to bemanipulated or a work piece to be machined The contact of a robot with an environment will lead to impactif the robot end effector has a nonzero normal velocity component at the point of contact When contactoccurs impact dynamics can be a significant factor If impact forces are not modeled and if the movementsof the manipulator are not controlled to prevent inappropriate forces the robot operations may fail Impactoften occurs when a robot contacts the environment with its end effector s During impact the robot motionis interrupted and impulsive forces develop at the contact point s and at each joint A quantitative relationbetween the impulses and other dynamic parameters will help analyze the severity of the collision anddesign reliable robotic systems In this thesis using the Lagrange approach and impact theory behavior offlexible joint robots and the flexible link robots in collision with environment is investigated Flexibility ofeach flexible joint is modeled as a linearly elastic torsional spring and equation of motion for robot isobtained by Lagrange approach The flexible link robot equation of motion is obtained using the Lagrangeapproach and the links are modeled as Euler Bernoulli beams with clamped mass boundary conditions Theassumed modes method is adapted in order to obtain a finite dimensional model The mathematical modelof two flexible link manipulator is derived by using one assumed mode shapes Common methods ofmeasuring impulse force use sensors to determine the magnitude of the impulse force applied to the system In this thesis the impulse force is obtained using some common impact assumptions and Lagrangeapproach After integrating Lagrange equation and combining with classical impact theory impulse force isdetermined as a function of system parameters and its effects on the robot system is studied Discontinuityof system velocities in impact time is the major influence of impulse force This discontinuity affects on thevibrational characteristics of the mechanical system Equation of motion for flexible robot is non linear System Responses are obtained as function of system modes by linearization motion equations Systemresponses are obtained for per and post impact conditions Evaluating of responses are shown that impulseforce turn in excite higher modes of vibration To validate the theoretical results simulation of a robotinvolving impact with its environments is presented Keywords Impact Flexible robot Lagrange approach Impulse force Simulation

براري، رامين

تحليل ديناميك برخورد ربات صفحه اي دو عضوي انعطاف پذير با محيط ثابت

مددهاي فرقي , نيروي ضربه , شبيه سازي