پديد آورنده :
هاديان، هامون
عنوان :
طراحي بهينه و ايزوتروپيك رباتهاي فضايي موازي كابلي
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
يازده، [65] ص: مصور، جدول، نمودار،عكس
يادداشت :
ص.ع. به: فارسي و انگليسي
استاد مشاور :
مجتبي محزون
توصيفگر ها :
طراحي ايزوتروپيك , سينماتيك
تاريخ نمايه سازي :
20/10/88
استاد داور :
مهدي كشميري، محمد جعفر صديق
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتال
چكيده انگليسي :
26 Isotropic and Optimal Design of Spatial Cable Parallel Manipulators Hamoon Hadian hadian hamoon@me iut ac ir Date of Submission June 17 2009 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisor Abbas Fattah fattah@cc iut ac irAbstractCable driven parallel robots are a special class of parallel manipulators that are driven by cables instead ofrigid links In cable manipulators a moving platform is connected to the base platform by a number ofcables Typically the cables are rolled up on winches attached to the base platform Hence the only movingparts are the cables and the moving platform Cable robots possess a number of desirable attributes including low inertial properties high payload to weight ratios potentially vast workspaces transportability ease of disassembly reassembly reconfigurabilityand economical construction and maintenance However analytical tools are available for analyzing anddesigning of parallel manipulators do not apply to cable robots due to the unidirectional cable forces This thesis focuses on expanding the existing theoretical framework for the design and analysis of cablerobots in two areas namely isotropic design and optimal design Isotropic design of spatial cable driven parallel robots is investigated by means of four different methods namely i symbolic method ii geometric workspace iii numerical workspace and global condition index GCI and iv numerical approach Optimal design of cable robots is investigated by addressing the variation of the workspace cable tension stiffness and natural frequency indices using different geometric configuration and different sizes andorientation of the moving platform The power of this framework is that all the performance measurespresented in this thesis have sense of physical consistency Also multi objective optimal design of thesemanipulators is studied using a sequential algorithm method We apply the aforementioned techniques to two types of spatial cable driven parallel manipulators to obtaintheir isotropic postures as well as optimal design These are a 6 6 cable suspended parallel robot and a novelspatial three degree of freedom cable driven parallel robot Eventually the isotropic and optimal design results of both cable robots are compared to show theirapplications Key words Spatial Cable Parallel Manipulator Isotropic Design Optimal Design Kinematics
استاد مشاور :
مجتبي محزون
استاد داور :
مهدي كشميري، محمد جعفر صديق
