6966

6508

كارشناسي ارشد

مهندسي مكانيك

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1390

نه، 96ص.: مصور، جدول، نمودار

ص.ع. به فارسي و انگليسي

مهدي كشميري، محمد دانش

محمود كدخدايي

4/6/91

فريد شيخ الاسلام، سعيد بهبهاني

1396/09/18

كتابنامه

مكانيك

مهندسي مكانيك

ID6508

به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي

Dynamic Analysis and Control of a Three Part Continuum Robot with SMA Wires Amir Pagoli a pagoli@me iut ac ir Date of Submission 2012 02 06 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisors Mehdi Keshmiri mehdik@cc iut ac ir Mohammad Danesh danesh@cc iut ac ir Abstract Continuum robots in contrast with traditional rigid link robots have a continuous backbone with nojoints Traditional robots have rigid underlying structures that limit their ability to interact with theirenvironment These robots often encounter difficulties operating in unstructured and highly congestedenvironments Many animals and plants exhibit complex movement with soft structures Muscularhydrostats e g octopus arms and elephant trunks are almost entirely composed of muscle and connectivetissue Also plant cells can change shape when pressurized by osmosis Researchers have been inspired bybiology to design and build soft robots With a soft structure and redundant degrees of freedom theserobots can be used for delicate tasks in cluttered and or unstructured environments Over the last decade researchers have developed continuum robots that provide new capabilities relative to traditional robots The most commonly used continuum robots are kinematically no redundant These robots are typically usedin well de ned environments in which they repetitively perform prescribed motion with great precision This capability is used in many successful applications primarily in manufacturing These robots aredesigned to be stiff so that vibration and deformation of the structure and drivetrain do not reduce theaccuracy of movement In general hard robots have multiple exible joints connected by stiff links In this research a new dynamic model for continuum robot manipulators is derived A geometric modelof a 3 link continuum robot manipulator with a circular cross section is considered This model is assumedto have no torsional effects We introduce a method for deriving kinematic relationships for a general classof continuous backbone or continuum robots The resulting kinematics allows real time task and shapecontrol Workspace Cartesian coordinates can be related to the tendon lengths through configurationcoordinates The proposed model is applicable to a wide class of existing continuum robots In addition thisapproach produces more precise results for orientation than those of some previous approaches Results ofkinematic control implemented on three types of spatial multi section continuum manipulators are reported After presenting the system model and its properties the kinetic and potential energy of a trunk element ofthe continuum robot is evaluated The total kinetic and potential energy of the manipulator is obtained bysum of the kinetic and potential energy of all trunks elements and the elastic potential energy of the bendingSMA wires Using the Lagrange equation the dynamic model of a continuum robot manipulator isobtained Three different control approaches including computed torque method sliding mode and adaptivesliding mode are stated for the proposed model Each of the controllers performances is evaluated indifferent conditions Numerical simulation results are presented for a spatial 3 section continuum robotmanipulator The numerical results indicate that the control system has a high degree of accuracy androbustness specifically with the adaptive sliding control scheme Keywords Continuum Robot Dynamic Modeling Computed Torque Control Sliding ModeControl Adaptive Sliding Mode SMA Wire

مهدي كشميري، محمد دانش

محمود كدخدايي

فريد شيخ الاسلام، سعيد بهبهاني