4930

4634

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1388

ده،97ص: مصور، عكس،نمودار، جدول

ص.ع. به: فارسي و انگليسي

مهدي كشميري

عباس فتاح

26/10/88

محمد جعفر صديق، فريد شيخ الاسلام

مهندسي مكانيك

ID4634

به فارسي و انگليسي: قابل رويت در نسخه ديجيتال

Dynamic and control of an object by a pair of finger robots considering both rolling and sliding contacts between object and finger tips Pouyan Rasouli pouyan rasouli@Gmail com 5th July 2009 Department of mechanical engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiMehdi Keshmiri mehdik@cc iut ac irAbstractCooperative manipulators are two or more serial manipulators which cooperate in grasping and manipulating anobject and form a parallel robotic system They are commonly used in assembling coaxialization moving an object etc Grasping an intermediary object is a complicated subject in analysis and synthesis of cooperative manipulator since its analysis is mostly depended to the manner that the object is grasped by the arms fingertips In the case of frictional grasping the elimination of undesired slippage of fingertips on the object due to theenvironmental factors and also contribution of the fingertips geometry in the dynamical model of the system aresome of the issues that makes its analysis complicated This study deals with frictional grasping of an object by useof two planar manipulators controlling the undesired slippages In line with this purpose first the dynamical andkinematical equations of cooperative manipulators and the object as a unified system are extracted taking intoaccount the fingertips geometry and frictional contacts as well as moving the object on the desired trajectory Then by studying the variety of possible contact conditions the inequality equation corresponding to contact conditions areconverted into a single differential equation with switching coefficients Since the contact conditions change systemdegrees of freedom the system s dynamics are multiphase and consequently a multiphase controller must bedesigned in order to control the system the system dynamical equations are transferred to a set of input outputequations The inputs are actuators torques while the outputs are object kinematics parameters and end effectorsslippage A computed torque like control law is used to eliminate undesired slippage and to track the object motionon the predefined trajectory The control performance is analyzed using numerical simulation Generally the presentstudy is an extension to Mr Shahram Hadian Jazi phd thesis which study the contribution and effects of finger tipsgeometry Considering a circular geometry for finger tips the numerical results showed increasing or decreasing thefinger tips radius does not change the results trends Key WordsFriction cooperative arm fingertip geometry

مهدي كشميري

عباس فتاح

محمد جعفر صديق، فريد شيخ الاسلام