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Optimum Counterweight Balancing of a (3-RPS)Robot in Dynamic Motion

Javaherchi, Hossein | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45159 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Ghaemi Osgouie, Kambiz; Khayyat, Amir Ali Akbar
  7. Abstract:
  8. In this thesis, Optimum Counterweight and Spring Balancing of a novel kind of mechanism called a general 3-RPS parallel robot in Dynamic Motion are investigated. Balancing is explained as the set of configurations on robot inertial and dimensional parameters which, when convinced, certify that the weight of the links produce less force at the actuators for any configuration of the robot, under dynamic or static behaviors. In the references, different procedures have been suggested for balancing that consisted of counterweights, springs, and other auxiliary equipments. Study represents the essential information for having optimum spring and counterweight balancing in a new (3RPS) robot using genetic algorithm. In order to study the optimal behavior of the (3RPS) robot, three chapters of the thesis are dedicated. In chapter 5, optimum counterweight and spring balancing of a new planar (3RPS) robot using genetic algorithm are discussed. In this chapter, the inverse kinematics analysis of the (3RPS) robot design is presented using a specified approach. According to the inverse kinematics, the principles of the equations for the inverse dynamic are modeled. The lagrangian formula, potential and kinetic energy are formulated respectively. Then using the referred formulations the equation of the actuator forces are acquired. The aim of the presented method is to obtain the minimum value of the actuator forces referring to the weight of the links and stiffness of the springs. Therefore, choosing all variables except the weight and stiffness for the mass and the spring respectively, and choosing the appropriate trajectory for the robot in matlab software, the optimized value for the weight and the stiffness are presented. In the chapter six we explained the analytical method for dynamic balancing of 3RPS robot, while using springs and counterweights. In order to optimize the motion of this robot, the genetic algorithm method is suggested. For this purpose, we choose the (GA), from the matlab toolbox, then with writing the equation of dynamic balancing and choosing the best value for the weight of the platform, moment of inertia, gravity acceleration, and appropriate trajectory, the best solution for the motion of the robot will be illustrated. Because of the high degree of automatisation and cyclically reparative behavior of robotic systems, even little betterments in the productivity operation of their systems may result in substantial consumed energy. For this purpose, in chapter seven, we studied the Consumed Energy Optimization in the Dynamic Balancing of (3RPS) Robot using counterweights. Our procedure investigated the magnitude of consumed energy for the (3RPS) robot manipulator, using the study of gravitational potential and kinetic energy equations. To have the optimized consumed energy, the gravitational and potential energy equations must sum together and then multiply them into during time between points of trajectory, as long as area under the curve of energy will be obtained. This thesis sought to contribute practical considerations and it could be a useful tool for improvement of the balancing accuracy of robotic systems
  9. Keywords:
  10. Energy Consumption ; Robot Manipulator ; Lagrangian Method ; Optimum Balancing

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