بالانس دینامیکی کامل نیرویی یک روبات موازی کروی جدید با ساختار 3(RPSP)-S با افزودن یک مکانیزم چندمیله‌ای

نوع مقاله : مقاله کوتاه

نویسندگان

دانشگاه آزاد اسلامی- واحد مشهد

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.

کلیدواژه‌ها


عنوان مقاله [English]

Complete Dynamic Shaking Force Balancing of a 3(RPSP)-S Spherical Parallel Robot Using Extra Linkage

نویسندگان [English]

  • Mahdie Heydari Lori
  • Javad Enferadi
Mashhad Branch-Islamic Azad Univercity
چکیده [English]

In this paper, an approach for reducing the shaking force of a spherical parallel robot using extra mechanisms is proposed. The proposed method vanishes the Coriolis acceleration terms due to moving the slider links on each branch from force balancing equation. For this purpose, two links are added to each branch of the manipulator as an extra linkage mechanism. Next, three weights are added to each branch of the robot for reducing the applied shaking forces on the base platform. Finally, the dynamic numerical simulations is performed using ADAMS software. The results show a reduction in the applied shaking forces on the base as much as 98%, 79% and 99.4% along the X, Y and Z axes, respectively..

کلیدواژه‌ها [English]

  • Shaking force
  • Force balancing
  • Spherical parallel robot
  • Inverse kinematics
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