بررسی اثرات تغییرات پارامترهای مفصل پنجه غیرفعال بر روی حرکت مدل دو بعدی ربات انسان‌نما

نوع مقاله: پژوهشی

نویسندگان

1 دانشگاه تربیت مدرس

2 دانشگاه تهران

چکیده

هدف پیش رو در پژوهش حاضر طراحی یک مفصل پنجه غیر‌فعال برای ربات انسان‌نمای سورنا 3 می‌باشد. برای این منظور از مدل دو بعدی ربات استفاده شده است. در گام نخست، مسیر حرکت مفاصل ربات بدون در نظر گرفتن مفصل پنجه طراحی می‌شود. پس از آن، پایداری حرکت ربات مجهز به مفصل پنجه غیر‌فعال بررسی می‌گردد. برای این کار از معیار پایداری نقطه ممان صفر استفاده می‌شود. برای محاسبه موقعیت این نقطه، داشتن زوایای مفصل پنجه غیر‌فعال لازم بوده که با استفاده از روابط ارتعاشات واداشته محاسبه می‌گردد. پس از آن به استخراج مدل دینامیکی ربات پرداخته می‌شود. در این راستا با استفاده از روش رهاسازی قیود، کلیه نیرو‌های عکس‌العمل وارد بر ربات در فاز‌های مختلف حرکت بدست آمده و بردار نیروی تعمیم‌یافته که شامل گشتاورهای مفاصل و نیروهای عکس‌العمل زمین می‌باشد، محاسبه می‌شود. به منظور بررسی صحت مدل دینامیکی استخراج شده، بار دیگر موقعیت نقطه ممان صفر با استفاده از نیروهای عکس‌العمل زمین محاسبه می‌شود. به این ترتیب موقعیت نقطه ممان صفر با دو رویکرد مبتنی بر سینماتیک و دینامیک ربات محاسبه و مقایسه می‌گردد و صحت مدل دینامیکی استخراج شده نیز بررسی می‌شود. با تغییر پارامترهای مربوط به ضریب سختی و ثابت میرایی اثرات این دو پارامتر بر روی ارتعاشات پنجه غیر‌فعال بررسی شده و نهایتا به کمک آنالیز پارامتری اثرات این دو پارامتر بر روی گشتاور و توان مفاصل بررسی می‌گردد.

کلیدواژه‌ها


عنوان مقاله [English]

Investigation on Adding Passive Toe Joints to the Feet Structure of 2D Humanoid Robot

نویسندگان [English]

  • Majid Sadedel 1
  • Aghil Yousefi-koma 2
  • Faezeh Iranmanesh 2
1 university
چکیده [English]

The main objective of this paper is to design a passive toe for Surena ||| humanoid robot which is designed and fabricated at the center of advanced systems and technologies of the University of Tehran (CAST). To this end, a 2D model of robot has been adopted. The first step is to design the trajectory of joints neglecting the toe joints. The second step is to investigate the motion stability of the humanoid robot which has equipped with a passive toe using zero moment point criteria. For this purpose, angles of the passive toe during motion is needed which is obtained using vibrational equations. Afterward, the dynamic model of the robot is derived. Constraint-relaxation method is used to determine the reaction forces on the robot, then calculating generalized force vector which contains all joint torques and reaction forces for different phases of motion. To validate the derived dynamic model, the position of the zero moment point is calculated again using reaction forces. Therefore, the position of the zero moment point has been calculated using two different methods. The first one is according to the kinematic of the robot and the second is based on the dynamic of the robot. Finally, the spring constant and the damping coefficient parameters have been changed to investigate how these parameters affect on the angle of passive toe and a parametric analysis has been adopted to inspect the effects of the aforementioned parameters on joint powers and joint torques.

کلیدواژه‌ها [English]

  • Humanoid robot
  • Passive toe joint
  • dynamic model
  • Parametric analysis
  • Spring Constant
  • Damping coefficient
 

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