9606

8862

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1393

[دوازده]،59ص.: مصور،جدول،نمودار

ص.ع.به فارسي و انگليسي

مهدي كشميري، آرون.ميسرا

شهرام هاديان جزي

93/12/16

سعيد بهبهاني، محمد دانش

مهندسي مكانيك

ID8862

Dynamics and Control of Large Flexible Space Structure LFSS Assembling Ashkan Nourizadeh Dehkordi a noorizadeh@me iut ac ir Date of Submission 2014 09 22 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisors Mehdi Keshmiri Mehdik@cc iut ac ir Arun K MisraAbstract Due to the human needs to energy and sustainable energy transmission of solar energy from space toearth using large space structures has been considered seriously both by researchers and industries Thisenergy transmission is engaged with many scientific and practical issues Assembling of large flexible solarpanels is one of the practical issues in which many analytical and practical subjects can be addressed Dynamics and control of this assembling process using space robots has been studied in this thesis It hasbeen assumed that a set of free floating robots is used to assemble the substructures to manufacture a newstructure Assembling process can be divided in four phases In brief theses phases are as follows phase 1 is thetransferring phase of the structures by the free floating robots from the storage point to the assemblingpoint From dynamic point of view in this process cost effective and collision free planning is the mainconcern Phase 2 is the assembling phase in which collision is unavoided Phase 3 is the stabilizing phase where the assembled structure comes to a stable situation Finally phase 4 is the transferring phase of theassembled structure to the destination point if needed Considering these four phases dynamics and control of the robots together with the structures arestudied in the thesis In phase 1 the conventional trajectory planning and tracking is solved for transferringprocess In phase 2 collision of multi degree bodies is studied in order to obtain the system states after thecollision Using these states and a decentralized control process the assembled structures is stabilized andtransferred to the destination point in phases 3 and 4 respectively The centralized control approach is infact the challenging issue in the last two phases To reduce fluctuation of the robots and structures CTMalgorithm with added integrator is used as the robots controller The analysis is accomplished withnumerical simulation of the whole phasesKeywords Space Robot Free Floating Robot Assembling Process Multi Body Collision

مهدي كشميري، آرون.ميسرا

شهرام هاديان جزي

سعيد بهبهاني، محمد دانش