مدل‌سازی سینماتیکی ربات نرم فضایی به روش تحلیلی بهبودیافته مبتنی بر ربات‌های سری

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشکده مهندسی مکانیک، دانشگاه صنعتی امیرکبیر، تهران، ایران

2 پژوهشکده فناوری‌های نو، دانشگاه صنعتی امیرکبیر، تهران، ایران

چکیده

در این مقاله مدل‌سازی سینماتیکی یک ربات نرم نیوماتیکی، شامل ترکیب موازی سه عملگر نرم، با قابلیت موقعیت‌دهی فضایی مورد بررسی قرار‌ گرفته است. روش پیشنهادی بررسی سینماتیک ربات در این پژوهش، برخلاف مدل‌های پیشین، با فیزیک ربات نرم همخوانی داشته و ایده‌ی اصلی آن، مدل‌کردن شکل و حرکت ربات نرم با ربات‌های صلب سری است که شکل و حرکت مشابهی ایجاد نماید. مدل سینماتیکی ارائه‌شده شامل حالات مستقیم و معکوس بوده و از روش‌های دقیق هندسی بهره می‌برد. همچنین، ژاکوبین‌ سرعت مجری نهایی ربات نرم با دو روش‌ مختلف، مبتنی بر اصول ربات‌های سری، استخراج گردیده است. در ادامه، فضای‌کاری ربات با توجه به قیود سینماتیکی، مشخص و شکل ربات در آن فضا تعیین گردید. صحه‌گذاری مدل‌سازی جدید ارائه شده، توسط شبیه‌سازی المان محدود و همچنین آزمایش‌های تجربی مورد بررسی قرار گرفته است. نتایج شبیه‌سازی المان محدود نشان‌دهنده‌ی حداکثر 6/1 درصد خطا برای مدل سینماتیک معکوس پیشنهادشده می‌باشد. همچنین نتایج آزمایش تجربی، بیانگر حداکثر 13 درصد خطا -با توجه به خطاهای ناشی از ساخت و تاثیرات جاذبه- برای مدل سینماتیک مستقیم است. نتایج حاصل نشان می‌دهد مدل جدید ارائه شده با توجه به ساده‌سازی ساختاری بر مبنای ربات های سری، دارای دقت مناسب برای استفاده در مدل‌سازی حرکتی و در ادامه کنترل ربات را خواهد داشت.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Kinematic Modeling of a Spatial Soft Robot by an Improved Analytical Method Based on Serial Robots

نویسندگان [English]

  • Sepideh Akbari 1
  • Hamed Ghafarirad 1
  • mohammad zaraee nejad 2
1 Mechanical Engineering Department Amirkabir University of Technology (Tehran Polytechnic)
2 New Technologies Research Center, Amirkabir University of Technology (Tehran Polytechnic)
چکیده [English]

In this paper, kinematic modeling of a soft pneumatic robot, including a combination of 3 soft actuators, with the capability of spatial positioning is presented. The proposed kinematic model in this research, unlike former methods, corresponds to the physics of robot and the main idea is modeling its configuration and movement by serial rigid robots which generate the same configuration and movement. The given kinematic model consists of forward and inverse problems and uses accurate geometrical solutions. In addition, the velocity Jacobian of soft robot has been determined by two different approaches based on rigid serial robot principles. Furthermore, the robot workspace and its configurations have been determined by considering the kinematic constraints. Modeling accuracy has been evaluated by finite element simulation and also experiments. Simulation results show the maximum error of 1.6% for the inverse kinematic model and the maximum error of forward kinematic model has been 13% in experiments due to manufacturing errors and gravity effects. These results demonstrate that the proposed model has proper accuracy for motion modeling and its control in future works.

کلیدواژه‌ها [English]

  • Soft pneumatic actuator
  • kinematic modeling
  • Constant curvature
  • celocity kinematics
  • workspace
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