Dynamic Analysis and Control of a Vibration-Driven Robot

  • سال انتشار: 1399
  • محل انتشار: دهمین کنفرانس بین‌المللی آکوستیک و ارتعاشات
  • کد COI اختصاصی: ISAV10_099
  • زبان مقاله: انگلیسی
  • تعداد مشاهده: 285
دانلود فایل این مقاله

نویسندگان

Ghazal Eftekharian

B.Sc. Student, Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Abbaspour Blvd., Hakimieh, ۱۶۵۸۹-۵۳۵۷۱, Tehran, Iran

Kourosh Sohrabi

B.Sc. Student, Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Abbaspour Blvd., Hakimieh, ۱۶۵۸۹-۵۳۵۷۱, Tehran, Iran

Vahid Fakhari

Assistant Professor, Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Abbaspour Blvd., Hakimieh, ۱۶۵۸۹-۵۳۵۷۱, Tehran, Iran.

چکیده

Vibration-driven robots are rather simple robots that utilize simple mechanism and techniques, such as springs, unbalanced rotors and most importantly friction, to track through a diverse range of surfaces, such as flat, even or uneven surfaces e.g. soil and sandy grounds. They can vary drastically in size and weight; however, they share a common feature, consisting of at least two larger masses interconnected by a spring and have at least one rotating vertical platform, which propels them in their desired direction. This paper is devoted to the dynamic analysis and velocity control of this type of robot. For this purpose, the differential equations governing a vibration-driven robot are derived and also verified by comparing results obtained by solving the equations in MATLAB with the corresponding results obtained using MSC ADAMS software. Then, a PID controller is designed for velocity control of the robot and itsrobustness in the presence of sensor noise, actuator disturbance and parameter uncertainty is investigated

کلیدواژه ها

Vibration-Driven Robot; PID-Control; Robustness analysis

مقالات مرتبط جدید

اطلاعات بیشتر در مورد COI

COI مخفف عبارت CIVILICA Object Identifier به معنی شناسه سیویلیکا برای اسناد است. COI کدی است که مطابق محل انتشار، به مقالات کنفرانسها و ژورنالهای داخل کشور به هنگام نمایه سازی بر روی پایگاه استنادی سیویلیکا اختصاص می یابد.

کد COI به مفهوم کد ملی اسناد نمایه شده در سیویلیکا است و کدی یکتا و ثابت است و به همین دلیل همواره قابلیت استناد و پیگیری دارد.