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مهدیه حیدری جواد انفرادی

چکیده

در این مقاله بررسی شرایط بالانس دینامیکی نیرویی یک روبات موازی کروی جدید بااستفاده از روش افزودن مکانیزم اضافه انجام می‌شود. در روش پیشنهادی از یک مکانیزم اضافه و اتصال آن به هر شاخه روبات به‌گونه‌ای استفاده می‌شود که باعث حذف شتاب‌های کوریولیس و درنتیجه حذف نیروهای لرزشی ناشی از رفت‌وبرگشت جرم لغزنده در معادلات بالانس دینامیکی نیرویی روبات شود. سپس با افزودن سه وزنه به هر شاخه روبات، بالانس نیرویی روبات انجام می‌شود. درپایان، با تحلیل دینامیکی روبات بااستفاده از نرم‌افزار آدامز، نشان داده می‌شود که بااستفاده از روش ارائه‌شده، نیروهای لرزشی منتقل‌شده به پایۀ روبات به‌طور میانگین درراستای x، 98%، درراستای y، 79% و درراستای z، 99.4% کاهش خواهند یافت.

جزئیات مقاله

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ارجاع به مقاله
حیدریم., & انفرادیج. (۱۳۹۷-۰۳-۰۲). بالانس دینامیکی کامل نیرویی یک روبات موازی کروی جدید با ساختار 3(RPSP)-S با افزودن یک مکانیزم چندمیله‌ای. علوم کاربردی و محاسباتی در مکانیک, 29(2), 145-156. https://doi.org/10.22067/fum-mech.v29i2.60400
نوع مقاله
یادداشت پژوهشی