مدلسازی و شبیه‌سازی نیروهای تماسی و اصطکاکی در بازوهای رباتیکی انعطاف‌پذیر

علوم کاربردی و محاسباتی در مکانیک

مقاله 7، دوره 36، شماره 4 - شماره پیاپی 38، دی 1403، صفحه 111-138   

نوع مقاله: مقاله پژوهشی

شناسه دیجیتال (DOI): 10.22067/jacsm.2024.88007.1256

نویسندگان

محمد احسان یوسف زاده کوهبنانی؛ علی محمد شافعی^*

دانشکده فنی و مهندسی، دانشگاه شهید باهنر، کرمان.

چکیده

در مقاله حاضر برخوردهای چندگانه برای سیستمهای رباتیکی حلقه باز دو بعدی (صفحه ای) که از n لینک الاستیک با مفاصل دورانی تشکیل شده‌اند، مورد مطالعه قرار گرفته است. معادلات حرکت دینامیکی این سیستم توسط الگوریتم بازگشتی گیبس-اپل و مدلسازی پدیده برخورد-تماس در آن به شیوه‌ منظم صورت گرفته است. برای مدلسازی ارتعاشات عرضی لینک‌ها از تئوری تیر تیموشنکو استفاده شده است. همچنین برای بالا بردن دقت مدلسازی، اثرات ناشی از میرایی سازه‌ای و میرایی هوا در نظر گرفته شده است. مفاصل بدون لقی و اصطکاک بوده، اما در محل برخوردِ لینک‌ها با زمین، نیروی اصطکاک لحاظ شده است. حرکت سیستم دارای دو مرحله پرواز و برخورد است. معادلات دیفرانسیل سیستم در مرحله برخورد در برگیرنده ترمهای ناشی از نیروهای ویسکوالاستیک هستند که معادلات حرکت جدیدی را نتیجه می‌دهند. این معادلات دیفرانسیل جدید به دلیل ماهیت نیروی برخورد، بسیار سخت بوده و حل آنها در مدت زمان بسیار اندکِ برخورد تمهیدات خاصی را می‌طلبد. با توجه به زمان بسیار کوتاه برخورد، تشخیص دقیق لحظه برخورد از اهمیت بسزایی برخوردار است. برای این منظور ورود به فاز برخورد و خروج از آن با الگوریتم محاسباتی ویژه‌ای که در این مقاله ارائه شده است، با دقت بسیار بالایی کنترل می‌شود. برای نمایش کارآیی و دقت برنامه توسعه داده شده، شبیه‌سازیهای کامپیوتری برای مطالعه رفتار دینامیکی یک سیستم رباتیکی سه لینکی انجام شده است. در پایان برای بررسی اثر مودشیپها بر روی تغییر شکل‌ الاستیک لینک‌ها، از چهار دسته مود‌شیپ متفاوت در شبیه‌سازی‌ها استفاده شده و نتایج آنها با یکدیگر مقایسه شده‌اند.

کلیدواژه‌ها

شکل مود؛ گیبس-اپل؛ اصطکاک؛ ربات الاستیک؛ نیروهای تماسی

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