پديد آورنده :
منصوري، سعيد
عنوان :
طراحي مسير حداقل زمان براي حركت ربات دوپا در حركت صفحه اي
مقطع تحصيلي :
كارشناسي ارشد
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
ده، 164ص.: مصور، جدول، نمودار
يادداشت :
ص.ع. به فارسي و انگليسي
استاد راهنما :
محمد جعفر صديق
استاد مشاور :
محمد حسن قاسمي
توصيفگر ها :
راه رفتن سريع , آناليز صفحه اي فاز , محدوديت گشتاور عملكرد , پايداري و عدم لغزش
تاريخ نمايه سازي :
9/2/91
استاد داور :
مصطفي غيور، محمد دانش
تاريخ ورود اطلاعات :
1396/10/12
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Minimum Time Gait Pattern Generation for Sagittal Motion of Biped Robot Saeed Mansouri s mansuri@me iut ac ir Date of Submission 2011 09 19 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Mohammad Jafar Sadigh jafars@cc iut ac ir Abstract With the development of robotic sciences lots of research has been conducted in the area of bipedrobots and many industries have been attracted to the application of these robots Therefore a great numberof humanoid robots have been developed all over the world As the humanoid robots have the samestructure as human beings they have the ability to handle many tasks which are normally done by humanbeings Also because of the uncontinuous nature of walking biped do not face problems that wheeled orsnake like robots do in moving on stairs and ditches Among the subjects which have been studied on bipedmotion investigation of the stability path generation optimization and control can be considered as moreimportant issues It is of great importance for the biped robots to walk with an optimized stable path Consumed energy actuator torques and the velocity of walking are among the most important indiceswhich have been considered for optimization by the researchers Among these the velocity of the bipedrobot always shows the superiority of the robot in comparison to the other prototypes Due to complexity ofsystem and different requirements not direct method which can be used to determine the maximum speedfor the robot In this research we try to find a method to determine the maximum possible speed of a sevenlink biped robots during stable walking in sagittal plane without slippage The method should consideractuator torque limits in addition to kinematic constraints of normal walking To achieve this firstly aparameter study is done to investigate the effect of the length and time of each step To this end a GeneticAlgorithm based path planning was developed and used However this method is time consuming and hascomputational complexity Regarding these defects the research has been continued to find the minimumtime trajectory of a biped robot in one step using phase plane analysis To do so minimum time trajectoryalgorithms used for fixed robots is employed Considering the fact that the biped robot has the structure of aserial manipulator in single support phase and behaves like a parallel manipulator in double support phase the minimum time algorithms for serial and parallel manipulators have been used for single support anddouble support phases respectively Then an appropriate algorithm to find the solution curve in phase planehas been proposed which satisfies the continuity condition of the velocity at the start and end of a step Finally the effects of some physical parameters such as coefficient of friction the length of the step etchave been investigated on the minimum time solution and the speed of walking has been considered Keywords biped robot fast walking phase plane analysis actuator torque limitation stability andnon slippage
استاد راهنما :
محمد جعفر صديق
استاد مشاور :
محمد حسن قاسمي
استاد داور :
مصطفي غيور، محمد دانش
