عنوان مقاله :
طراحي، ساخت و كنترل يك مكانيزم توليد حركت براي يك شبيه‌ساز تعاملي دوچرخه-سواري
عنوان به زبان ديگر :
Design, Construction and Control of a Motion Generating Mechanism for an Interactive Cycling Simulator
پديد آورندگان :
مهرسروش، محمدجواد داﻧﺸﮕﺎه ﺗﻬﺮان - مهندسي مكاترونيك , عالي پور، خليل داﻧﺸﮕﺎه ﺗﻬﺮان - مهندسي مكاترونيك , هادي، عليرضا داﻧﺸﮕﺎه ﺗﻬﺮان - مهندسي مكاترونيك , تارويردي زاده، بهرام داﻧﺸﮕﺎه ﺗﻬﺮان - مهندسي مكاترونيك , آرزو، كيوان داﻧﺸﮕﺎه ﺗﻬﺮان - مهندسي مكاترونيك
كليدواژه :
شبيه‌ساز دوچرخه‌سواري تعاملي , مكانيزم توليد حركت , الگوريتم ژنتيك , كنترل موقعيت
چكيده فارسي :
ﻣﮑﺎﻧﯿﺰم ﻫﺎي ﺷﺒﯿﻪﺳﺎز ورزش ﺟﺬاﺑﯿﺖ و ﮐﺎرﺑﺮد زﯾﺎدي در ﻋﻤﻞ ﺑﻪ ﻣﻨﻈﻮر ﭘﯿﺎدهﺳﺎزي ﻣﺤﯿﻂﻫﺎي واﻗﻌﯿﺖ ﻣﺠﺎزي دارد. ﺷﺒﯿﻪﺳﺎز دوﭼﺮﺧﻪﺳﻮاري، ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻋﻤﻮﻣﯿﺖ ﻓﻌﺎﻟﯿﺖ دوﭼﺮﺧﻪﺳﻮاري در ورزش و ﺣﻤﻞ و ﻧﻘﻞ ﺷﻬﺮي ﺟﺎﯾﮕﺎه وﯾﮋهﺗﺮي دارد. در اﯾﻦ ﻣﻘﺎﻟﻪ، ﻃﺮاﺣﯽ و ﺳﺎﺧﺖ ﯾﮏ ﻣﮑﺎﻧﯿﺰم ﻧﻮﯾﻦ ﺗﻮﻟﯿﺪ ﺣﺮﮐﺖ ﺑﺮ اي ﺷﺒﯿﻪﺳﺎز ﺗﻌﺎﻣﻠﯽ دوﭼﺮﺧﻪﺳﻮاري اراﺋﻪ ﺷﺪه اﺳﺖ. اﺑﺘﺪا ﺑﺎ ﺑﻪ ﮐﺎرﮔﯿﺮي ﻧﺘﺎﯾﺞ ﺗﺤﻘﯿﻘﺎت ﮔﺬﺷﺘﻪ، ﺣﺪود ﺳﺮﻋﺖ و ﺷﺘﺎﺑﯽ ﮐﻪ ﮐﺎرﺑﺮ ﺣﯿﻦ دوﭼﺮﺧﻪﺳﻮاري ﺑﺎﯾﺴﺘﯽ ﺗﺠﺮﺑﻪ ﮐﻨﺪ، اﺳﺘﺨﺮاج ﺷﺪه و ﺿﻤﻦ ﺗﺤﻠﯿﻞ ﺳﺎﯾﺮ ﺷﺒﯿﻪﺳﺎزﻫﺎي دوﭼﺮﺧﻪﺳﻮاري، درﺟﺎت آزادي ﻣﻮرد ﻧﯿﺎز و ﺣﺪود آن ﺗﻌﯿﯿﻦ ﺷﺪه اﺳﺖ. ﺳﭙﺲ ﻣﮑﺎﻧﯿﺰم ﺗﻮﻟﯿﺪ ﺣﺮﮐﺖ ﺟﺪﯾﺪ ﺑﺎ دو درﺟﻪ آزادي ﺑﺮاي اﯾﻦ ﮐﺎرﺑﺮد اراﺋﻪ ﺷﺪه اﺳﺖ. از اﻟﮕﻮرﯾﺘﻢ ژﻧﺘﯿﮏ ﺑﺮاي ﺗﺤﻠﯿﻞ اﺑﻌﺎدي ﻣﮑﺎﻧﯿﺰم اﺳﺘﻔﺎده ﺷﺪه و رواﺑﻂ ﺳﯿﻨﻤﺎﺗﯿﮑﯽ و دﯾﻨﺎﻣﯿﮑﯽ ﻣﮑﺎﻧﯿﺰم اﺳﺘﺨﺮاج ﺷﺪه اﺳﺖ. ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﺪل دﯾﻨﺎﻣﯿﮑﯽ ﻣﮑﺎﻧﯿﺰم، ﮐﻨﺘﺮلﮐﻨﻨﺪهاي از روش ﺧﻄﯽﺳﺎزي ﺑﺎزﺧﻮرد ، ﻃﺮاﺣﯽ ﺷﺪه و ﻧﺘﺎﯾﺞ و ﻋﻤﻠﮑﺮد آن در ﻧﺮم اﻓﺰارﻫﺎي ﺷﺒﯿﻪﺳﺎز ﻣﻮرد ﺑﺮرﺳﯽ ﻗﺮار ﮔﺮﻓﺘﻪ اﺳﺖ. ﺳﭙﺲ ﻣﮑﺎﻧﯿﺰم ﺗﻮﻟﯿﺪ ﺣﺮﮐﺖ ﻃﺮاﺣﯽ ﺷﺪه ، ﺳﺎﺧﺘﻪ ﺷﺪه و اﯾﺮادات آن ﺑﺮﻃﺮف ﮔﺮدﯾﺪه اﺳﺖ. در ﭘﺎﯾﺎن ﮐﻨﺘﺮل ﻣﻮﻗﻌﯿﺖ ﺑﻄﻮر ﻣﻮﻓﻘﯿﺖآﻣﯿﺰ روي آن ﭘﯿﺎدهﺳﺎزي ﺷﺪه اﺳﺖ.
چكيده لاتين :
Sports simulation mechanisms practically have a lot of appeal and application to implement
virtual reality environments. Cycling simulator has a more special place in sports and urban
transportation due to the popularity of cycling activities. In this paper, the design and
construction of a new motion generating mechanism for an interactive cycling simulator is
presented. First, by using the references, the range of velocity and acceleration that the user
should experience while cycling has been extracted, and by analyzing other cycling
simulators, the required degrees of freedom and its range have been determined. Then, a new
motion generating mechanism with two degrees of freedom is designed. Genetic algorithm
has been used for dimensional optimization of the mechanism parameters. Kinematics and
dynamic equations of the mechanism have been extracted. According to the dynamic model
of the mechanism, a controller has been designed using the feedback linearization method
and the performance have been investigated. Finally, the designed motion generating
mechanism has been constructed and the position control has been implemented on the
platform.
عنوان نشريه :
مهندسي مكانيك مدرس
