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Modeling, Design and Manufacturing of Deformable Ring-Like Robot with Parametric Control of Rolling-Creeping Motion

Hossein Nejad, Abbas | 2009

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 40112 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasty, Aria
  7. Abstract:
  8. The robots that can move on rough terrains are very important especially in rescue operation, exploration of mine and etc. Since contact surfaces between the robot and the ground are unpredictable, the structure of the robot is usually unintelligible and its motion analysis is difficult. In this research, a ring-like shape robot with flexible body is proposed for motion in rough terrain, gradient paths and passing bars. The ring shape has more usages than other shapes for example as a wheel in a larger robot. Also its flexibility helps the motion particularly on rough terrains. This robot consists of a central section for setting equipments and arms around that. Being radially and symmetrically set, the arms only have reciprocating motion in this direction. This robot moves by controlling the contraction and the extension of the arms which contact the ground and carry the robot weight. Because of nature of motion, it is named "rolling-creeping" motion. Two approaches are proffered for robot motion; two based arms and three based arms. In this thesis, the motion equations based on effective parameters and different assumptions are obtained for two proposed mechanism. Also dynamic analysis includes determination of required forces of actuators and condition of motion and stationary stability is performed. Velocity, position and fuzzy control are designed to control the robot. The results of the motion simulation are shown to confirm equations. A prototype of ring-like robot is built to assess experimentally the feasibility of a deformable robot moving. Results of motion of the robot are indicated at end.

  9. Keywords:
  10. Motion Equation ; Ring-Like Robot ; Flexible Body ; Two Based Mechanism ; Three Based Mechanism ; Motion Commands Algorithm

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