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Design, Fabrication and Model-base Control of a Brachiation Robot with Flexible Support

Norouzi, Mohsen | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42354 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza; Namvar, Mehrzad
  7. Abstract:
  8. 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 gravity and needs the minimum torque and force in order to gain energy whilst having less energy loss. As a result we decided to build a robot with such characteristics and design a controller that satisfies the control goals which are reaching the capabilities of the ape to the fullest extent. This thesis is written in 8 chapters, in the beginning the robot is explicated and then previous studies about it are reviewed. Afterwards the process of deriving dynamic equations and robot’s exact model are explained, then the characteristics of the real robot and its control algorithms are investigated and finally the simulation results and the application of control algorithms in the robot are presented. The final section contains the reference list. The robot which is built in this project has two arms and each arm has a clamp in its end in order to hold a bar and the clamp in not capable of producing any torque. There is a motor between the arms and is the only operator in the robot and is capable of producing torque and force. This robot has a powerful processor and a very efficient sensor set and is capable of making wireless communication with the external computer; its characteristics are explicated later in this thesis
  9. Keywords:
  10. Brachiation Robot ; Model Based Control ; Flexible Bearing ; Continuous Energy Feeding ; In-Phase Two Arms Movement

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