نشریه مهندسی مکانیک ایران

نشریه مهندسی مکانیک ایران

حل مسئله سینماتیک معکوس بازوهای بسیار-افزونه با عملگرهای ناپیوسته به روش جستجوی چند-بسته ای

نوع مقاله : مقاله علمی پژوهشی

نویسندگان
1 استادیار، گروه مهندسی مکانیک، دانشگاه آزاد اسلامی واحد ساوه، ساوه، ایران
2 استاد، گروه مهندسی مکانیک، دانشگاه صنعتی شریف، تهران، ایران
3 استاد، گروه مهندسی مکانیک، دانشگاه علم و صنعت ایران، تهران، ایران
چکیده
بازوهای بسیار-افزونه، بازوهایی هستند که درجات آزادی آنها زیاد است و به واسطه این ویژگی میتوانند از موانع عبور کنند و چالاکی بیشتری داشته باشند. در اینجا منظور از این نام، به طور خاص، بازوهایی است که از چیدن چندین بسته بر روی هم به صورت سری و بر روی یک پایه ثابت، ایجاد می شوند. هر بسته خود یک مکانیزم سری یا موازی می باشد. عملگرهای ناپیوسته، عملگرهایی هستند که تنها در چند حالت محدود، قابل تحریک هستند. در کنترل این عملگرها، معمولاً نیازی به بازخورد نمی باشد و این ویژگی سبب سادگی در کنترل، ارزان بودن، دقت بالا و تکرار پذیری زیاد آنها می گردد. تا کنون روش های مختلفی برای حل مسئله سینماتیک معکوس بازوهای بسیار-افزونه با عملگرهای ناپیوسته ارائه شده است. در میان این روش ها، روش جستجوی جفت-جفت از لحاظ سرعت حل و خطا، بهتر عمل می کند. در این مقاله، این روش تعمیم داده می شود؛ به این ترتیب که در هر مرحله از جستجو، به جای اینکه لزوماً از دو بسته استفاده شود، از تعداد دلخواهی از بسته ها استفاده می گردد و تأثیر آن بر سرعت و دقت حل مورد بررسی قرار می گیرد. به این منظور، دو بازو، یکی صفحه ای و یکی فضایی معرفی می شوند و مسائل سینماتیک معکوس برای آنها حل گردیده و نتایج آنها مورد تحلیل و مقایسه قرار می گیرد.
کلیدواژه‌ها

موضوعات


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  • تاریخ دریافت 14 اردیبهشت 1402
  • تاریخ بازنگری 02 مرداد 1402
  • تاریخ پذیرش 07 بهمن 1402