بررسی اثرات لقی مفاصل لولایی بر رفتار سینماتیکی ربات موازی صفحه‌ای 3RPR

نوع مقاله : مقاله پژوهشی

نویسندگان

• سیدمجتبی واردی کولایی ¹
• مهدی بامداد ¹
• برزو فتحی ²

¹ دانشگاه صنعتی شاهرود

² دانشگاه شاهرود

10.22067/fum-mech.v31i1.85234

چکیده

برای ایجاد حرکت نسبی بین عضوهای متصل‌به‌هم در یک مکانیزم، وجود لقی در مفاصل امری اجتناب‌ناپذیر است. علاوه بر ایجاد خطا در دقّت موقعیت­یابی، وجود لقی یکی از مهم‌ترین عوامل ایجاد ضربه، شوک و در نتیجۀ تولید ارتعاشات و صدا در هنگام کارکرد مکانیزم است. تلورانس‌ها و خطاهای ناشی از فرایند طراحی و ساخت، سائیدگی و خوردگی مفاصل بعد از یک دورۀ معیّن کاری و اثرات حرارتی به‌عنوان مهم­ترین عوامل ایجاد و افزایش لقی شناخته شده­اند. بدیهی است که در صورت وجود لقی در مفاصل لولایی، یک یا دو درجۀ آزادی غیرقابل‌کنترل به مکانیزم افزوده می­شود که می­­تواند منبع ایجاد خطا باشد. در این مقاله، اثرات لقی مفاصل لولایی بر رفتار سینماتیکی ربات موازی صفحه­ای 3RPR مورد بررسی قرار می­گیرد. ربات موازی در نرم­افزار تحلیل دینامیکی آدامز مدل­سازی شده و نتایج شبیه­سازی برای دو حالت ایده­آل (بدون لقی) و حالت واقعی (با لقی) با هم مقایسه می­شوند. همچنین اثرات اندازه لقی مفاصل و تأثیر آن بر رفتار ربات نیز مورد ارزیابی قرار می­گیرد. نتایج عددی نشان می­دهند که با افزایش اندازه لقی، مقادیر سرعت و شتاب افزایش چشم­گیری می­یابند.

کلیدواژه‌ها

• لقی مفصل
• سینماتیک
• تحلیلی دینامیکی
• نرم‌افزار آدامز
• ربات موازی صفحه‌ای 3RPR

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عنوان مقاله [English]

The Effects of Revolute Joint Clearance on the Kinematic Behavior of the 3RPR Planar Parallel Manipulator

نویسندگان [English]

• S.M. Varedi-Koulaei ¹
• mahdi bamdad ¹
• Borzoo Fathi ²

¹

²

چکیده [English]

To create a relative movement between connected members in a mechanism, the presence of clearance in the joints is inevitable. In addition to raise errors in positioning accuracy, the presence of clearance is one of the most important factors in causing impact, shock, and thus the production of vibrations and sound during the operation of the mechanism. Tolerances and errors due to the process of design and construction, wear and corrosion of joints after a certain period of work and thermal effects are known as the most important sources in creating and increasing clearance. Obviously, if there is a clearance in the revolute joints, one or two degrees of uncontrollable freedom are added to the mechanism, which can be the source of the error. In this paper, the clearance effects of revolute joints on the kinematic behavior of a 3RPR parallel robot are examined. Parallel robots are modeled in the Adams Dynamic Analysis Software, and the simulation results are compared for two ideal (without clearance) and real mode (with clearance). The effects of joint clearance size and its effect on robot behavior are also evaluated. Numerical results show that by growing the size of the clearance, the values of velocity and acceleration increase dramatically.

کلیدواژه‌ها [English]

• Joint clearance
• Kinematics
• dynamic analysis
• ADAMS Software
• 3RPR Planar Parallel Manipulator

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