مهندسی مکانیک مدرس

مهندسی مکانیک مدرس

ارائه یک روش عمومی جهت مدلسازی دینامیکی و شبیه‌سازی بازوهای رباتیک پرنده

نوع مقاله : مقاله پژوهشی

نویسندگان
سید علی میرنجفی زاده
حامد شریف زاده بهزادی
علی محمد شافعی
گروه مهندسی مکانیک، دانشکده فنی و مهندسی، دانشگاه شهید باهنر، کرمان، ایران
10.48311/mme.2026.119153.82973
چکیده
هدف اصلی این مقاله، ارائه یک روش جدید جهت مدل‌سازی منیپولاتورهایی است که بر روی یک پایه پرنده نصب شده‌اند. مهمترین چالش‌های پیشرو این تحقیق عبارت هستند از: 1- چگونگی محاسبه نیروهای تعمیم‌یافته سیستم شامل نیروی فعال موتورها و نیروی غیرفعال قیدهای حاکم بر سیستم. 2- نحوه تعریف مسیر مطلوب برای پایه پرنده، بگونه‌ای که علاوه بر موقعیت مطلوب، جهت‌گیری مطلوب را نیز شامل گردد. 3- چگونگی توسعه یک روش خودکار و سیستماتیک، بگونه‌ای که افزایش تعداد لینک‌های تشکیل‌دهنده بازوی مکانیکی و پایه پرنده هیچگونه محدودیتی در استخراج معادلات حرکت سیستم ایجاد نکند. و 4- نحوه آرایش موتورهای نصب شده بر روی پایه پرنده بگونه‌ای که هرگونه حرکتی را در فضای سه‌بعدی امکان‌پذیر سازد. برای غلبه بر چالش‌های فوق، در ابتدا کل سازه ربات شامل پایه پرنده و منیپولاتور نصب شده بر روی آن طی یک فرآیند کاملاً سیستماتیک به تعداد مشخصی زیر-سازه تقسیم می‌گردد. سپس معادلات حرکت هر یک از این زیر-سازه‌ها (که در واقع یک زنجیره باز سینماتیکی با پایه متحرک هستند) با استفاده از الگوریتم بازگشتی گیبس-اپل به‌دست می‌آید. در ادامه با ترکیب معادلات حرکت هر یک از این زنجیره‌های رباتیکی، معادلات حرکت کل سیستم (که در آن اثر متقابل پایه پرنده بر روی بازوی مکانیکی و بالعکس لحاظ شده است) استخراج می‌گردد.
کلیدواژه‌ها
منیپولاتور
پایه پرنده
فرمولاسیون گیبس-اپل
معادلات دینامیکی

موضوعات

عنوان مقاله English

A General Methodology for Dynamic Modeling and Simulation of Aerial Robotic Manipulators

نویسندگان English

Seyed Ali Mirnajafizadeh
Hamed Sharifzadeh Behzadi
Ali mohammad Shafei
Department of Mechanical Engineering, Shahid Bahonar University of Kerman, Kerman, Iran
چکیده English

The main objective of this paper is to present a novel approach for dynamic modeling of manipulators mounted on a flying base. The most significant challenges addressed in this research can be summarized as follows: 1) Determining an appropriate formulation for computing the generalized forces of the system, including both the active forces generated by the actuators and the passive forces arising from the constraints governing the system. 2) Defining a desired trajectory for the flying base that incorporates not only the desired position but also the desired orientation. 3) Developing an automatic and systematic dynamic modeling framework such that increasing the number of links in the robotic manipulator or the flying base does not impose any limitation on the derivation of the system’s equations of motion. 4) Arranging the motors installed on the flying base in a manner that enables arbitrary motion in three-dimensional space. To overcome these challenges, the overall robotic structure—comprising the flying base and the mounted manipulator is first decomposed, through a fully systematic procedure, into a specified number of substructures. The dynamic equations of motion of each substructure (which can be regarded as an open kinematic chain with a moving base) are then derived using the recursive Gibbs–Appell algorithm. Subsequently, by appropriately combining the equations of motion of these robotic chains, the kinetic equations of motion of the complete system are obtained, explicitly accounting for the mutual dynamic interactions between the flying base and the robotic manipulator.

کلیدواژه‌ها English

Manipulator؛ Aerial Base؛ Gibbs&ndash
Appell Formulation؛ Dynamic Equations
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مهندسی مکانیک مدرس
دوره 26، شماره 7
تیر 1405
صفحه 529-546