پديد آورنده :
حدادي، عليرضا
عنوان :
تحليل و كنترل يك ربات كابلي الاستيك در حركت صفحه اي
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
هشت، 85ص.: نمودار
يادداشت :
ص.ع. به فارسي و انگليسي
استاد راهنما :
محمدجعفر صديق
استاد مشاور :
سعيد بهبهاني
تاريخ نمايه سازي :
7/8/91
استاد داور :
مصطفي غيور، محمد دانش
تاريخ ورود اطلاعات :
1396/09/20
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Analysis and control of a planar cable robot Alireza hadadi Alireza h86@yahoo com 04 03 2012 Department of mechanic engineering Isfahan university of technology Isfahan 84156 83111 IranDegree M Sc Language FarsiDr mohammad jafar Sedigh Jafars@cc iut ac irAbstract Cable robots are a type of parallel manipulators with this ext ra specialty that cables work as parallel linkagesand multiple motors work as actuators The distinct difference between cable robots and classic robots is thatcable can only tolerate tension In other word they can only pull objects it causes that we can t generalize someresults of parallel robots for cable robots But they offer many advantages over conventional serial man ipulators The main benefit of cable robots is their large workspace which makes them well suited for broadcasting transporting loading and construction application Unfortunately cable robots useful workspaces are oftenunknown or irregularly shaped so such robots are typically restricted to operate in unnecessarily small conservatively estimated workspaces As we mentioned cable robot only can tolerate tension so all of thepoints that kinamtically is located in workspace may not be reached due to negative tension which is practicallyimpossible It means that we can have different description for cable robot s workspace In other wordsrequirements of nonnegative cable tensions as well as maximu m ad missible tensions should be satisfied Cablerobots are relatively simp le in form but the transportability and disassembly reassembly of them are so easy Also they can provide us high speed As long as the cables are all in tension the load is kinematicallyconstrained and the cables resist perturbing forces and mo ments with equal stiffness to both positive andnegative loads The result is that the suspended load is constrained with a mechanical stiffness determined bythe elasticity of the cables the suspended weight and the geometry of the mechanis m In this project we have anintroduction to cable robots then we studied various kinds of them that have been manufactured so far Amongavailable robots we chose one that carried a sky camera Nowadays it uses much more in sport stadiums in orderto have images in all angles In this thesis control the camera in planar motion and elimination it s vibration invertical plane is our goal while we consider elastic vibration of cables We assumed cable as linear springs andalso the motion is planar As we know the elastic vibration of cables includes two parts longitudinal elasticdeflection and transverse elastic deflection After achieving the motion equation we find equilibriu m pointsthen with linearization of motion equation around equilibriu m points we design controller In each step wesimu late the system activity to be assured of controller s performance and finally we introduce the des irablecontroller Keywords 1 cable robots 2 planar motion 3 Workspace 4 Control
استاد راهنما :
محمدجعفر صديق
استاد مشاور :
سعيد بهبهاني
استاد داور :
مصطفي غيور، محمد دانش
