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Design, Fabrication and Model-base Control of a Brachiation Robot with Flexible Support
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor) ; Namvar, Mehrzad (Supervisor)
Abstract
Nowadays, many researches are inspired by nature and living creatures in order to build various scientific and industrial products such as robots, because of the highest level of creativity which is used in creating them along with their high level of efficiency in power consumption and designing parameters. Underactuated Robots are the type of robots which have more degrees of freedom comparing to the number of operators. As a result their optimum control has a lot of complications. Brachiating robots are designed and built based on an inspiration from long armed apes (Gibbons). This type of monkey is highly skilled in twisting in trees and traversing. This type of movement benefits from...
Control of a Link on Elastic Torsional Support and Experimental Verification
, M.Sc. Thesis Sharif University of Technology ; Mohammad Navazi, Hossein (Supervisor)
Abstract
A simple control system contains at least an actuator, a controlled link, and a foundation. These structures are not ideally rigid, this flexibility can appear willingly or unwillingly in any parts of the system or the connections between them. As a consequence of this flexibility, the movement of the controlled part will fluctuate unintentionally. In this thesis, a control system with rigid controller and flexible torsional base is investigated and controllers are designed and compared to reduce these unwanted vibrations. Finally, by implementing the controllers on the constructed system, the experimental results are obtained and compared with the analytical results.To fabricate the...