فهرست مطالب vahid boomeri

In this paper, a new robotic gripper is proposed and modeled which is able to bear a high amount of load and it can be used as the claws of climbing robots. As the climbing robots are usually heavy and their configuration should be kept in height against the gravity, firm grippers with no slippage possibility should be designed in order to guarantee the stability. The proposed new gripper is essentially required for the grip-based climbing robots which are heavy and are supposed to accomplish a specific operational task while they are grasping the pipe-shaped structures. The kinematic and quasi-static modeling of the proposed gripper is extracted and its related parameters are optimized to provide the maximum gripping force and the minimum slippage probability. Since these robust grippers are usually actuated by high torque motors, the reaction effect of the actuators force on the arm of the robot model is investigated here as a new study. Hence, the corresponding mechanical arm is also controlled, using a robust nonlinear controller to neutralize the destructive effect of extreme reaction forces or torques from the gripper motors to the robot arm during its mission. Thus, a robust controller is designed and implemented on the arm joint to cover the required positioning accuracy of the arm movement during the climbing motion. Afterward, the applicability of the proposed gripper and also the efficiency of the designed controller is verified by the aid of some analytic and comparative simulation scenarios performed in MATLAB-SIMULINK and MSC-ADAMS simulation. It is shown that the proposed gripper together with its related controlling algorithm for the arm can successfully provide a proper climbing mechanism for these kinds of robots which are supposed to climb through the structures and perform a special manipulating task.

In this paper, design, modeling and control of a grip-based planar climbing robot is performed which is consist of a triangular plate and three actuating legs. This robot is extremely applicable for many applications in which a human operator should climb through a truss infrastructure and implement some manipulations on the relevant installations. The proposed robot in this paper can be substituted and decrease the death danger and increase the safety of operation. In this paper however, a grip-based climbing robot is designed which is able to perform manipulating tasks. Overall kinematics and kinetics of the robot is modeled and its manipulation is controlled using Feedback Linearization for operational phase. All of the modeling are verified by conducting some analytic simulation scenarios in the MATLAB and the results are also compared with the results of the robot which is modeled and simulated in ADAMS software to investigate the correctness of modeling and simulations. It is shown that by the aid of the proposed and designed climbing robot, it is possible to climb and perform a complete operational task through trusses and infrastructures with the best status of safety and accuracy.