Bajelan, A., Akbarimajd, A. (2015). Passive Non-Prehensile Manipulation of a Specific Object on Predictable Helix Path Based on Mechanical Intelligence. Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 8(3), 149-162.
A. Bajelan; A. Akbarimajd. "Passive Non-Prehensile Manipulation of a Specific Object on Predictable Helix Path Based on Mechanical Intelligence". Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 8, 3, 2015, 149-162.
Bajelan, A., Akbarimajd, A. (2015). 'Passive Non-Prehensile Manipulation of a Specific Object on Predictable Helix Path Based on Mechanical Intelligence', Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 8(3), pp. 149-162.
Bajelan, A., Akbarimajd, A. Passive Non-Prehensile Manipulation of a Specific Object on Predictable Helix Path Based on Mechanical Intelligence. Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 2015; 8(3): 149-162.
Passive Non-Prehensile Manipulation of a Specific Object on Predictable Helix Path Based on Mechanical Intelligence
1MSc. Student, Department of Mechanical Engineering, University of Mohaghegh Ardabili, Ardabil, Iran.
2Assistant Professor, Department of Mechanical Engineering, University of Mohaghegh Ardabili, Ardabil, Iran.
Abstract
Object manipulation techniques in robotics can be categorized in two major groups including manipulation with and without grasp. The aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled. The manipulation path is a screwed track with constant radius and incline. As there is no actuator and active controller in the mechanism, the system requires a kind of mechanical intelligence to navigate the object from initial to goal configuration. This intelligence is achieved by geometry of the object and dynamical and kinematical characteristics if the object and the track. A general set up for the components of the system is considered to satisfy the required conditions. Then after kinematical analysis, detailed dimensions and geometry of the mechanism is obtained. M.SC-ADAMS is exploited to simulate the proposed mechanism
جابه جا کردن غیرفعال یک شیء خاص در مسیر مارپیچ قابل پیش بینی بر مبنای هوش مکانیکی
Authors [Persian]
عبدالله باجلان, عادل اکبری مجد
Abstract [Persian]
روشهای جابهجا کردن اشیاء در علم رباتیک معمولا به دو دسته کلی جابهجا کردن اشیاء با گرفتن و جابهجا کردن اشیاء بدون گرفتن تقسیم میشوند. هدف اصلی این مقاله تعریف روشی خاص برای جابهجا کردن اشیاء است که در آن علاوه بر اینکه شیء گرفته نمیشود، عمل جابهجا کردن آن به صورت غیر فعال انجام میشود. در این روش علاوه بر تغییر مکان شیء، تغییر موقعیت زاویهای و کنترل مسیر حرکت شیء نیز مطرح میباشد و مسیر تعیین شده به صورت یک منحنی مارپیچ سه بعدی با شعاع و شیب ثابت میباشد.این روش سیستمی را مطرح میکند که در آن محرک و نیز کنترل کنندهی فعال وجود ندارد. این سیستم نیازمند نوعی هوش مکانیکی غیر فعال برای رساندن شیء از وضعیت مبداء، در امتداد مسیر تعیین شده، به وضعیت هدف میباشد. این هوش با بهرهگیری از شکل هندسی شیء و با تکیه بر تعامل دینامیکی شیء با دیگر اجزای سیستم به وجود میآید. ابتدا یک شکل کلی که تامین کنندهی شرایط مورد نیاز باشد، برای شیء در نظر گرفته میشود و بعد از بررسی سینماتیک و دینامیک مسله ابعاد دقیق و روابط حاکم بر شکل هندسی آن به دست میآید. در نهایت از نرم افزار ADAMS برای شبیهسازی این سیستم استفاده میشود.
Keywords [Persian]
حرکت غیرفعال، جابه جا کردن اشیاء، مکانیزم غیرفعال، هوش مکانیکی، جابه جا کردن بدون گرفتن
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