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

مقاله 5، دوره 29، شماره 2 - شماره پیاپی 18، شهریور 1397، صفحه 145-156   

نوع مقاله: مقاله کوتاه

شناسه دیجیتال (DOI): 10.22067/fum-mech.v29i2.60400

نویسندگان

مهدیه حیدری؛ جواد انفرادی^*

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

بالانس دینامیکی نیرویی؛ روبات موازی کروی؛ نیروی لرزشی؛ جرم افزوده

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