پیاده‌سازی روش گیبس- اَپل در تجزیه و تحلیل دینامیکی یک ربات جدید هیبریدی سریال- موازی PP-(3RSS-PS)

نوع مقاله : مقاله پژوهشی

نویسندگان

• سید نادر نبوی ¹
• جواد انفرادی ²

¹ دانشکده مهندسی، گروه مهندسی مکانیک، دانشگاه بجنورد، بجنورد

² دانشکده مهندسی، گروه مهندسی مکانیک، دانشگاه آزاد اسلامی واحد مشهد، مشهد.

10.22067/jacsm.2023.83429.1193

چکیده

این مقاله یک طراحی مفهومی از یک ربات هیبریدی جدید به نام PP-(3RSS-PS) را معرفی می‌کند که به طور خاص برای شبیه‌سازی حرکت در نظر گرفته شده است. ربات ارائه شده چندین مزیت قابل توجه را ارائه می‌دهد، از جمله طراحی ساختاری ساده و فشرده که باعث ایجاد فضای کاری بزرگ برای ربات می‌شود. محورهای X و Y برای تسهیل فازهای شتاب طولانی طراحی شده‌اند، در حالی که طراحی شفت توخالی سیستم انتقال قدرت، حرکت یاو نامحدود را امکان‌پذیر می‌کند. در کاربردهای خاصی مانند مانورهای هوایی مانند حرکت هلیکوپتر، توانایی دستیابی به حرکت در جهت یاو نامحدود برای ارائه شبیه‌سازی‌های دقیق و معلق در هوا اهمیت زیادی دارد. برای برقراری ارتباط بین فضای مفاصلی و فضای کارتزین، تحلیل‌های جامع سینماتیک، ژاکوبین و دینامیکی ربات انجام می‌شود. این روابط مقدماتی، پایه و اساس تحقیقات بعدی مانند مطالعات بهینه‌سازی را میسر می‌کند. فرمول گیبس-اَپل برای استخراج معادلات دینامیکی استفاده می‌شود که نسبت به روش لاگرانژ از کارایی محاسباتی برخوردار است. برای اعتبارسنجی مدل تحلیلی، شبیه‌سازی با استفاده از نرم افزار MSC-ADAMS انجام شده است. این شبیه‌سازی شامل شش مسیر از پیش تعریف شده است که از یک شبیه‌ساز حرکت صنعتی اتخاذ شده است. اعتبارسنجی موفقیت‌آمیز نتایج نه تنها صحت مدل تحلیلی را تایید می‌کند، بلکه انگیزه‌ای برای تحقیقات بیشتر در جستجوی یک شبیه‌ساز حرکت جایگزین استثنایی می‌کند.

کلیدواژه‌ها

• ربات هیبریدی
• سنتز ربات‌ها
• دینامیک
• گیبس- اپل
• شبیه‌ساز حرکتی

موضوعات

• رباتیک

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عنوان مقاله [English]

Implementation of Gibbs-Appell method in dynamic analysis of a novel serial-parallel hybrid robot PP-(3RSS-PS)

نویسندگان [English]

• S. Nader Nabavi ¹
• javad Enferadi ²

¹ Department of Mechanical Engineering, University of Bojnord, Bojnord, Iran

² Mechanical Engineering Department, Mashhad Branch, Islamic Azad University, Mashhad, Iran.

چکیده [English]

This paper introduces a conceptual design of a new hybrid robot, named PP-(3RSS-PS), specifically intended for motion simulation. The presented robot offers several notable advantages, including a simple and compact structural design that optimizes its large workspace. The modular X and Y axes are engineered to facilitate extended acceleration phases, while the power transmission system's hollow shaft design enables unlimited yaw motion. In certain applications like aerial maneuvers, dogfights, and helicopter operations, the ability to achieve unlimited yaw motion holds significant importance for delivering precise and immersive simulations. To establish the relationship between joint space and Cartesian space parameters, comprehensive kinematic, Jacobian, and dynamic analyses of the robot are performed. These preliminary relations lay the foundation for subsequent investigations, such as optimization studies. The Gibbs-Appell formulation is employed to derive the dynamic equations, leveraging its computational efficiency over the Lagrange method. To validate the analytical model, a simulation using MSC-ADAMS software is conducted. This simulation incorporates six predefined trajectories adopted from an industrial motion simulator. Successful validation of the results would not only confirm the accuracy of the analytical model but also motivate further research in search of an exceptional alternative motion simulator.

کلیدواژه‌ها [English]

• Hybrid robot
• Robot synthesis
• Dynamic
• Gibbs-Appell
• Motion simulator

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