پديد آورنده :
كوچكي ورنوسفادراني، احسان
عنوان :
تاثير مفاصل پنجه در كيفيت راه رفتن و پايداري ايستادن
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
ده،145ص.: مصور،جدول،نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد راهنما :
محمدجعفر صديق
استاد مشاور :
مهدي كشميري
تاريخ نمايه سازي :
1/5/92
استاد داور :
احمدباقري، محسن مجيري، مصطفي غيور، محمد دانش
كد ايرانداك :
ID527 دكتري
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Abstract Bipedal robots are expected to be physically more interactive with their surroundings in future Among this toe joint plays a significant role which had been missed in most of research efforts This dissertation aims to investigate the effect of toe joint on walking performance and standing stability For walking kinematical and dynamical studies are carried on In the kinematical study experimental walking data of normal subjects were collected A kinematic index for natural walking is computed based on average of upper body trajectories of experimental data In the dynamical study a nine link biped is presented and its walking in a stable path on horizontal and inclined levels is studied Three indices of energy consumption joint torque demand and power consumption are calculated and compared in walking with toe bending and locked toe joint states Simulation results show that bending of toe reduced these indexes The standing balance control of biped with toe joint against external disturbances is another objective of this research To this end a standing bipedal model contains an inverted pendulum as the upper body and a foot with toe joint is presented The balance regulation is carried out using two different strategies 1 ankle strategy and 2 ankle toe strategy To kinds of constraints namely forcing constraints and configuration constraints are applied between foot and ground First of all effects of three forcing constraints namely no lifting no rolling over and no slipping constraints on standing balance of the biped was studied and the allowable torque bounds were computed in the phase plane Then standing balance control was done by ankle strategy based on obtained allowable torques using PD switching and model predictive control methods The results show that the present model has better performance in compared with flat foot bipedal model studied in literature In ankle toe strategy the standing balance control was fulfilled in two parts using model predictive control by implementing configuration constraints and using state feedback control based on LQR method without considering excess constraints Simulations showed that the ankle toe strategy has better performance and reduced the actuator demand To assess the stability of the model is performed using concept of calculated in phase plane Results showed that the toe joint increased stability regions This effect is more important especially in the case with high heel foot PDF created with pdfFactory trial version www pdffactory com
استاد راهنما :
محمدجعفر صديق
استاد مشاور :
مهدي كشميري
استاد داور :
احمدباقري، محسن مجيري، مصطفي غيور، محمد دانش
