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91
لﺎﻌﻓﺮ :
ﺮﺛا
ﺪﻨﻠﺑ و ي
، لﺮـﺘﻨﻛ نوﺪـﺑ ﻪـﺘﻓﺮﮔ ترﻮـﺻ ﻪﻨﻴﻣز ﺪـﻧور ﻒـﻳﺮﻌﺗ فﺪـﻫ ﺎـﺑ
هار لﺪـﻣ ﻦﻳﺮﺗ ﻲﻟﺪـﻣ ،هﺪـﻧور
و ﻲﺘـﺴﭘ زا رﻮـﺒﻋ ﻲﻳﺎﻧاﻮﺗ و يراﺪﻳﺎﭘ ،
ﺎـﻫﺮﺘﻣارﺎﭘ ﺮـﺑ ار ﺮﻴﺛﺎـﺗ ﻦﻳﺮﺘـﺸﻴﺑ ﺎـﻫﺎﭘ مﺮـﺟ ﺰـﻛﺮﻣ نﺎﻜﻣ ي
ﻢﺘﻳرﻮـﮕﻟا شور ﻪـﺑ
ﻖـﻴﻗد ﻲـﺳرﺮﺑ يرﺎﺘﺧﺎـﺳ يﺎـﻫﺮﺘﻣارﺎﭘ ﻲﺑﺎـﻳ ﺮـﺗ
Optimum
passive walking biped: effects of structural parameters efficiency, stability and robustness on uneven trains
Abstract: Passive walkers are robots, which perform a walking
external control. This concept was published on 90’s by McGeer and there are lots of past few years. Keeping in mind
performance and finding their optimums, simulating the biped and establishing a trend to its optimal design and and finally doing experimental researches, wou
can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and robustness on uneven trains due to variation of structural parameter
was shown that the foot arc radius and center of mass height have the most important effect on walking performance.
After comparing the results with previous researches and doing simulations in MSC.
design trend has been suggested. At the end based on experimental results, it was shown beside optimization of structural parameters, considering the impact condition as well would be very important to achieve optimal walking.
Keywords: Passive Walking, Stability, Optimization, Design and Build of Biped, Experiment of Biped
رﺎﺗ ﻳ ﻪﻟﺎﻘﻣ ﻪﭽﺨ رد ﻳ ﺖﻓﺎ ﺬﭘ ﻳ شﺮ ﺎﺳ رد ﻪﺋارا
ي ﻏ ﻴ لﺎﻌﻓﺮ
ﺘﺴﭘ زا رﻮﺒﻋ ﻲ
ﺪﻨﻠﺑ و
ﻧاﺪﻤﻫ
3ﻲ
هار ﻪﻴﺒﺷ يراﺪﻳﺎﭘ ﻲﻠﻜﻴﺳ ﺖﻛﺮﺣ ﺪﻨﻧاﻮﺗ ار ﻦﺘـﻓر
،
ﻦﻳا رد ﻲﻔﻠﺘﺨﻣ تﺎﻘﻴﻘﺤﺗ ﺮﻴﺧا يﺎﻫ ﻪـﺘﻓﺮﮔ ترﻮـﺻ ﻪﻨﻴﻣز
يراﺰـﻓا
، ﺪـﻧور ﻒـﻳﺮﻌﺗ فﺪـﻫ ﺎـﺑ
هدﺎﺳ شﺮﺘﺴﮔ ﺎﺑ هار لﺪـﻣ ﻦﻳﺮﺗ
و ﻲﺘـﺴﭘ زا رﻮـﺒﻋ ﻲﻳﺎﻧاﻮﺗ و يراﺪﻳﺎﭘ ،
ﺎـﻫﺮﺘﻣارﺎﭘ ﺮـﺑ ار ﺮﻴﺛﺎـﺗ ﻦﻳﺮﺘـﺸﻴﺑ ﺎـﻫﺎﭘ مﺮـﺟ ﺰـﻛﺮﻣ نﺎﻜﻣ ﻟﺪـﻣ ﺖﺧﺎـﺳ ﺪـﻧور
ﻲ ﻪـﻨﻴﻬﺑ ﻢﺘﻳرﻮـﮕﻟا شور ﻪـﺑ
ﻖـﻴﻗد ﻲـﺳرﺮﺑ يرﺎﺘﺧﺎـﺳ يﺎـﻫﺮﺘﻣارﺎﭘ ﻲﺑﺎـﻳ
Optimum
passive walking biped: effects of structural parameters efficiency, stability and robustness on uneven trains
S.
Passive walkers are robots, which perform a walking
external control. This concept was published on 90’s by McGeer and there are lots of past few years. Keeping in mind
performance and finding their optimums, simulating the biped and establishing a trend to its optimal design and and finally doing experimental researches, wou
can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and robustness on uneven trains due to variation of structural parameter
was shown that the foot arc radius and center of mass height have the most important effect on walking performance.
After comparing the results with previous researches and doing simulations in MSC.
design trend has been suggested. At the end based on experimental results, it was shown beside optimization of structural parameters, considering the impact condition as well would be very important to achieve optimal walking.
Passive Walking, Stability, Optimization, Design and Build of Biped, Experiment of Biped
هﺪﻧور
ﺎﭘود ي
ﺘﺴﭘ زا رﻮﺒﻋ
ﺪﺣوا ﺎﺿﺮﻟاﺪﺒﻋ ، ي
ﻧاﺪﻤﻫ
ﻒﻳﺮﺷ ناﺮﻬﺗ ،
ناﺮﻬﺗ ،ﺮﻴ ناﺮﻬﺗ ،ﺮﻴ
naraghi@aut.ac.ir
هار ﻪﻴﺒﺷ يراﺪﻳﺎﭘ ﻲﻠﻜﻴﺳ ﺖﻛﺮﺣ ﺪﻨﻧاﻮﺗ ﻦﻳا رد ﻲﻔﻠﺘﺨﻣ تﺎﻘﻴﻘﺤﺗ ﺮﻴﺧا يﺎﻫ
ﻪﻴﺒﺷ و مﺮﻧ يزﺎﺳ يراﺰـﻓا
ﺮﺿﺎﺣ رﺎﻛ رد
، هدﺎﺳ شﺮﺘﺴﮔ ﺎﺑ
ﺮﺛا ﺮﺑ هدزﺎﺑ و ﻲﺘـﺴﭘ زا رﻮـﺒﻋ ﻲﻳﺎﻧاﻮﺗ و يراﺪﻳﺎﭘ ،
ﺎـﻫﺮﺘﻣارﺎﭘ ﺮـﺑ ار ﺮﻴﺛﺎـﺗ ﻦﻳﺮﺘـﺸﻴﺑ ﺎـﻫﺎﭘ مﺮـﺟ ﺰـﻛﺮﻣ نﺎﻜﻣ ﻟﺪـﻣ ﺖﺧﺎـﺳ ﺪـﻧور
ﻪـﻨﻴﻬﺑ رﺎـﻨﻛرد ﻪﻛ ﺪﺷ هداد نﺎﺸﻧ ،ﺶﻳﺎﻣزآ ﻪﻠﺣﺮﻣ ﺞﻨﭘ ﻒﻳﺮﻌﺗ ﺎﺑ ﻖـﻴﻗد ﻲـﺳرﺮﺑ يرﺎﺘﺧﺎـﺳ يﺎـﻫﺮﺘﻣارﺎﭘ ﻲﺑﺎـﻳ
Optimum design
passive walking biped: effects of structural parameters efficiency, stability and robustness on uneven trains
S. M. H. Sadati
1- MSc. student, Mech 2- Assis. Prof
3- Assoc. Prof
*
Passive walkers are robots, which perform a walking
external control. This concept was published on 90’s by McGeer and there are lots of
past few years. Keeping in mind the novelty of the concept, investigating the effects of structural parameters on walking performance and finding their optimums, simulating the biped and establishing a trend to its optimal design and and finally doing experimental researches, wou
can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and robustness on uneven trains due to variation of structural parameter
was shown that the foot arc radius and center of mass height have the most important effect on walking performance.
After comparing the results with previous researches and doing simulations in MSC.
design trend has been suggested. At the end based on experimental results, it was shown beside optimization of structural parameters, considering the impact condition as well would be very important to achieve optimal walking.
Passive Walking, Stability, Optimization, Design and Build of Biped, Experiment of Biped
http://mechanics.journals.modares.ac.ir
52 - 68
هار هﺪﻧور
يراﺪ و
ﺘﺴﭘ زا رﻮﺒﻋ
ﺪﺣوا ﺎﺿﺮﻟاﺪﺒﻋ ،
ﺘﻌﻨﺻ هﺎﮕﺸﻧاد ﻲ
ﻒﻳﺮﺷ
ﺘﻌﻨﺻ هﺎﮕﺸﻧاد ،ﻚ ﻲ
ﻣا ﻴ ﺒﻛﺮ ناﺮﻬﺗ ،ﺮﻴ
ﺘﻌﻨﺻ هﺎﮕﺸﻧاد ،ﻚ ﻲ
ﻣا ﻴ ﺒﻛﺮ ناﺮﻬﺗ ،ﺮﻴ
naraghi@aut.ac.ir
ﻲﻣ ﻚﭼﻮﻛ هار ﻪﻴﺒﺷ يراﺪﻳﺎﭘ ﻲﻠﻜﻴﺳ ﺖﻛﺮﺣ ﺪﻨﻧاﻮﺗ
لﺎﺳ رد ﻦﻳا رد ﻲﻔﻠﺘﺨﻣ تﺎﻘﻴﻘﺤﺗ ﺮﻴﺧا يﺎﻫ
ﻪﻨﻴﻬﺑ و نآ يزﺎﺳ ﺎﻫ ﻪﻴﺒﺷ و
دﺮﻴﮔ راﺮﻗ ﻪﺟﻮﺗ درﻮﻣ ﺮﺘﺸﻴﺑ ﺪﻧاﻮﺗ .
ﺮﺿﺎﺣ رﺎﻛ رد رﺎﺘﺧﺎﺳ ي
، ناﺰﻴﻣ
و ﻒﻛ عﺎﻌﺷ ﺎـﻫﺮﺘﻣارﺎﭘ ﺮـﺑ ار ﺮﻴﺛﺎـﺗ ﻦﻳﺮﺘـﺸﻴﺑ ﺎـﻫﺎﭘ مﺮـﺟ ﺰـﻛﺮﻣ نﺎﻜﻣ
مﺮﻧ رد راﺰﻓا ﺰﻣادآ
،
ﻪـﻨﻴﻬﺑ رﺎـﻨﻛرد ﻪﻛ ﺪﺷ هداد نﺎﺸﻧ ،ﺶﻳﺎﻣزآ ﻪﻠﺣﺮﻣ ﺞﻨﭘ ﻒﻳﺮﻌﺗ ﺎﺑ ﻲ
ﺎﭘود
design, manufacturing
passive walking biped: effects of structural parameters efficiency, stability and robustness on uneven trains
H. Sadati1, M. Naraghi
student, Mech. Eng Prof., Mech. Eng
Prof., Mech. Eng P. O. B. 15875
Passive walkers are robots, which perform a walking
external control. This concept was published on 90’s by McGeer and there are lots of
the novelty of the concept, investigating the effects of structural parameters on walking performance and finding their optimums, simulating the biped and establishing a trend to its optimal design and and finally doing experimental researches, would be of a great concern.
can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and robustness on uneven trains due to variation of structural parameter
was shown that the foot arc radius and center of mass height have the most important effect on walking performance.
After comparing the results with previous researches and doing simulations in MSC.
design trend has been suggested. At the end based on experimental results, it was shown beside optimization of structural parameters, considering the impact condition as well would be very important to achieve optimal walking.
Passive Walking, Stability, Optimization, Design and Build of Biped, Experiment of Biped
http://mechanics.journals.modares.ac.ir ﻲﺸﻫوﮋﭘ ﻲﻤﻠﻋ ﻪﻠﺠﻣ
هرﺎﻤﺷ 6
، ﺪﻨﻔﺳا 1391 ص ص 52
ﺶﻳﺎﻣزآ ﻳ
ﻚ هار
هدزﺎﺑ
، ﻳﺎﭘ يراﺪ
ﻬﻣ ، ﻴ ﻗاﺮﻧ رﺎ
2ﻲ ﺪﺣوا ﺎﺿﺮﻟاﺪﺒﻋ ،*
،ﻚﻴﻧﺎﻜﻣ ﻲﺳﺪﻨﻬﻣ ﺘﻌﻨﺻ هﺎﮕﺸﻧاد
ﻧﺎﻜﻣ ﻴ ﺘﻌﻨﺻ هﺎﮕﺸﻧاد ،ﻚ
ﻧﺎﻜﻣ ﻴ ﺘﻌﻨﺻ هﺎﮕﺸﻧاد ،ﻚ
ﻲﺘﺴﭘ قوﺪﻨﺻ 4413
- 15875
،
ﺐﻴﺷ يور ﺎﻫ
ي ﻲﻣ ﻚﭼﻮﻛ
ﺮﻴﮔ ﺪﺷ ﻲﻓﺮﻌﻣ .
لﺎﺳ رد
هار ﺖﻛﺮﺣ ﺮﺑ هﺪﻧور
ﻪﻨﻴﻬﺑ و
دﺮﻴﮔ راﺮﻗ ﻪﺟﻮﺗ درﻮﻣ ﺮﺘﺸﻴﺑ ﺪﻧاﻮﺗ ﺮﻴﻴﻐﺗ ﺎﺑ يﺎﻫﺮﺘﻣارﺎﭘ رﺎﺘﺧﺎﺳ
هداد نﺎﺸﻧ ﻣ
ﻲ دﻮﺷ و ﻒﻛ عﺎﻌﺷ
ﻪﻴﺒﺷ و ﻦﻴﺸﻴﭘ ﻪﺑﺎﺸﻣ يﺎﻫ زﺎﺳ
ي مﺮﻧ رد
ﻪـﻨﻴﻬﺑ رﺎـﻨﻛرد ﻪﻛ ﺪﺷ هداد نﺎﺸﻧ ،ﺶﻳﺎﻣزآ ﻪﻠﺣﺮﻣ ﺞﻨﭘ ﻒﻳﺮﻌﺗ ﺎﺑ ﻠﻤﻋ ﺶﻳﺎﻣزآ ،ﺎﭘود
ﻲ
manufacturing
passive walking biped: effects of structural parameters efficiency, stability and robustness on uneven trains
M. Naraghi2*, A.
Eng., Sharif Univ. of Tech., Eng., Amirkabir. Univ. of Tech.,
ng., Amirkabir. Univ. of Tech., 15875-4413 Tehran, naraghi@aut.ac.ir Passive walkers are robots, which perform a walking
external control. This concept was published on 90’s by McGeer and there are lots of
the novelty of the concept, investigating the effects of structural parameters on walking performance and finding their optimums, simulating the biped and establishing a trend to its optimal design and
ld be of a great concern.
can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and robustness on uneven trains due to variation of structural parameter
was shown that the foot arc radius and center of mass height have the most important effect on walking performance.
After comparing the results with previous researches and doing simulations in MSC.
design trend has been suggested. At the end based on experimental results, it was shown beside optimization of structural parameters, considering the impact condition as well would be very important to achieve optimal walking.
Passive Walking, Stability, Optimization, Design and Build of Biped, Experiment of Biped
http://mechanics.journals.modares.ac.ir
هرود 12 هرﺎﻤﺷ
و ﺶﻳﺎﻣزآ
ي ﺮﺑ هدزﺎﺑ
ﺗادﺎﺳ
1ﻲ ﻬﻣ ،
ي ﺳﺎﻨﺷرﺎﻛ ﻲ ﺪﺷرا
،ﻚﻴﻧﺎﻜﻣ ﻲﺳﺪﻨﻬﻣ
دﺎﺘﺳا ﻳ رﺎ ﺳﺪﻨﻬﻣ ﻲ ﻧﺎﻜﻣ
ﺸﻧاد ﻴ رﺎ ﺳﺪﻨﻬﻣ ﻲ ﻧﺎﻜﻣ
ناﺮﻬﺗ
، ﻲﺘﺴﭘ قوﺪﻨﺻ
ﺮﺑ ﻪﻛ ﺪﻨﺘﺴﻫ ﻲﻳﺎﻫ ﺐﻴﺷ يور
ﻚﻣ ﻂﺳﻮﺗ يدﻼﻴﻣ ﺮﻴﮔ
رﺎﺘﺧﺎﺳ ي هار ﺖﻛﺮﺣ ﺮﺑ
ﻲﻣ ، دﺮﻴﮔ راﺮﻗ ﻪﺟﻮﺗ درﻮﻣ ﺮﺘﺸﻴﺑ ﺪﻧاﻮﺗ
ﺖﺳا . ﺲﭙﺳ
، ﺮﻴﻴﻐﺗ ﺎﺑ
ﺖﺳا ه . هداد نﺎﺸﻧ ﻪﻴﺒﺷ و ﻦﻴﺸﻴﭘ ﻪﺑﺎﺸﻣ يﺎﻫ
ﻪـﻨﻴﻬﺑ رﺎـﻨﻛرد ﻪﻛ ﺪﺷ هداد نﺎﺸﻧ ،ﺶﻳﺎﻣزآ ﻪﻠﺣﺮﻣ ﺞﻨﭘ ﻒﻳﺮﻌﺗ ﺎﺑ
ﺖﺳا ﻢﻬﻣ رﺎﻴﺴﺑ ﻪﻨﻴﻬﺑ ﺖﻛﺮﺣ ﻪﺑ ﻲﺑﺎﻳ .
ﺣاﺮﻃ و ﺖﺧﺎﺳ ﻲ
manufacturing and experiment passive walking biped: effects of structural parameters
efficiency, stability and robustness on uneven trains
, A. R. Ohadi Hamedani
Sharif Univ. of Tech., Tehran, Iran Univ. of Tech., Tehran
Univ. of Tech., naraghi@aut.ac.ir
Passive walkers are robots, which perform a walking like, stable limit cycle on small slopes without any external control. This concept was published on 90’s by McGeer and there are lots of
the novelty of the concept, investigating the effects of structural parameters on walking performance and finding their optimums, simulating the biped and establishing a trend to its optimal design and
ld be of a great concern. In this research, a deployed model of biped that can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and robustness on uneven trains due to variation of structural parameters and their optimum limits have been investigated. It was shown that the foot arc radius and center of mass height have the most important effect on walking performance.
After comparing the results with previous researches and doing simulations in MSC.
design trend has been suggested. At the end based on experimental results, it was shown beside optimization of structural parameters, considering the impact condition as well would be very important to achieve optimal walking.
Passive Walking, Stability, Optimization, Design and Build of Biped, Experiment of Biped
ﺖﺧﺎﺳ رﺎﺘﺧﺎﺳ ي
دﺎﻫ ﺪﻤﺤﻣﺪ ي
1 - د ﻮﺠﺸﻧا ي
2 - دﺎﺘﺳا
3 - ﺸﻧاد
* ناﺮﻬﺗ
تﺎﺑر لﺎﻌﻓﺮﻴﻏ يﺎﻫ ﺮﺑ ﻪﻛ ﺪﻨﺘﺴﻫ ﻲﻳﺎﻫ
ﻪﻫد رد مﻮﻬﻔﻣ ﻦﻳا 90
ﻚﻣ ﻂﺳﻮﺗ يدﻼﻴﻣ
ﺎﻫﺮﺘﻣارﺎﭘ ﺮﻴﺛﺎﺗ ،عﻮﺿﻮﻣ ﻲﮔزﺎﺗ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ ي
رﺎﺘﺧﺎﺳ
ﺶﻳﺎﻣزآ مﺎﺠﻧا و لﺪﻣ ﺖﺧﺎﺳ و ﻲﺣاﺮﻃ ﻠﻤﻋ يﺎﻫ
ﻲ ﻲﻣ ،
ﺪﺷ ﻪﺘﻓﺮﮔ ﺮﻈﻧرد ﺖﺧﺎﺳ ﻞﺑﺎﻗ لﺪﻣ ﻪﺑ ﺮﺗ ه
ﺖﺳا
نآ ﻪﻨﻴﻬﺑ ﺎﻫ ﺪﺷ ﻲﺳرﺮﺑ ﺖﺳا ه
ﺎﺑ ﺞﻳﺎﺘﻧ ﻪﺴﻳﺎﻘﻣ زا ﺲﭘ ﻲﺳرﺮﺑ
ﻪﻴﺒﺷ و ﻦﻴﺸﻴﭘ ﻪﺑﺎﺸﻣ يﺎﻫ
ﺎﻬﺘﻧا رد
، ﻪـﻨﻴﻬﺑ رﺎـﻨﻛرد ﻪﻛ ﺪﺷ هداد نﺎﺸﻧ ،ﺶﻳﺎﻣزآ ﻪﻠﺣﺮﻣ ﺞﻨﭘ ﻒﻳﺮﻌﺗ ﺎﺑ
ﺖﺳا ﻢﻬﻣ رﺎﻴﺴﺑ ﻪﻨﻴﻬﺑ ﺖﻛﺮﺣ ﻪﺑ ﻲﺑﺎﻳ راﺪ
ي ﻬﺑ ، ﻴ ﻪﻨ زﺎﺳ ي
،
and experiment passive walking biped: effects of structural parameters
efficiency, stability and robustness on uneven trains
R. Ohadi Hamedani
Tehran, Iran Tehran, Iran Univ. of Tech., Tehran, Iran
naraghi@aut.ac.ir
like, stable limit cycle on small slopes without any external control. This concept was published on 90’s by McGeer and there are lots of related researches going on
the novelty of the concept, investigating the effects of structural parameters on walking performance and finding their optimums, simulating the biped and establishing a trend to its optimal design and
In this research, a deployed model of biped that can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and s and their optimum limits have been investigated. It was shown that the foot arc radius and center of mass height have the most important effect on walking performance.
After comparing the results with previous researches and doing simulations in MSC. ADA
design trend has been suggested. At the end based on experimental results, it was shown beside optimization of structural parameters, considering the impact condition as well would be very important to achieve optimal walking.
Passive Walking, Stability, Optimization, Design and Build of Biped, Experiment of Biped
ﻲ
،ﻪﻨﻴﻬﺑ
ﺎﻫﺮﺘﻣارﺎﭘ ي
رﺎﺘﺧﺎﺳ
ﺳ ﻴ دﺎﻫ ﺪﻤﺤﻣﺪ
هﺪﻧور تﺎﺑر لﺎﻌﻓﺮﻴﻏ يﺎﻫ
ﺪﻨﺷﺎﺑ ﻪﺘﺷاد ،ﻲﺟرﺎﺧ .
ﻪﻫد رد مﻮﻬﻔﻣ ﻦﻳا
ﺎﻫﺮﺘﻣارﺎﭘ ﺮﻴﺛﺎﺗ ،عﻮﺿﻮﻣ ﻲﮔزﺎﺗ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ ﺶﻳﺎﻣزآ مﺎﺠﻧا و لﺪﻣ ﺖﺧﺎﺳ و ﻲﺣاﺮﻃ ﺪﺷ ﻪﺘﻓﺮﮔ ﺮﻈﻧرد ﺖﺧﺎﺳ ﻞﺑﺎﻗ لﺪﻣ ﻪﺑ ﺮﺗ
هدوﺪﺤﻣ و نآ ﻪﻨﻴﻬﺑ
دراد لﺪﻣ . ﺎﺑ ﺞﻳﺎﺘﻧ ﻪﺴﻳﺎﻘﻣ زا ﺲﭘ
ﺖﺳا هﺪﺷ دﺎﻬﻨﺸﻴﭘ .
ﺎﻬﺘﻧا رد
ﺖﺳد ياﺮﺑ ﺎﻫدرﻮﺧﺮﺑ ﺖﺳا ﻢﻬﻣ رﺎﻴﺴﺑ ﻪﻨﻴﻬﺑ ﺖﻛﺮﺣ ﻪﺑ ﻲﺑﺎﻳ
مﺪﻗ ﻧز ﻲ ﻏ ﻴ ﺎﭘ ،لﺎﻌﻓﺮ ﻳ راﺪ
and experiment passive walking biped: effects of structural parameters
efficiency, stability and robustness on uneven trains
R. Ohadi Hamedani3
like, stable limit cycle on small slopes without any related researches going on the novelty of the concept, investigating the effects of structural parameters on walking performance and finding their optimums, simulating the biped and establishing a trend to its optimal design and
In this research, a deployed model of biped that can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and s and their optimum limits have been investigated. It was shown that the foot arc radius and center of mass height have the most important effect on walking performance.
ADAMS software, an optimum design trend has been suggested. At the end based on experimental results, it was shown beside optimization of structural parameters, considering the impact condition as well would be very important to achieve optimal walking.
Passive Walking, Stability, Optimization, Design and Build of Biped, Experiment of Biped
ﺣاﺮﻃ ﻲ
ﺎﻫﺮﺘﻣارﺎﭘ
ﻜﭼ ﻴ هﺪ - هار هﺪﻧور
ﺪﻨﺷﺎﺑ ﻪﺘﺷاد ،ﻲﺟرﺎﺧ ﺖﺳا . ﺎﻫﺮﺘﻣارﺎﭘ ﺮﻴﺛﺎﺗ ،عﻮﺿﻮﻣ ﻲﮔزﺎﺗ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ
ﺶﻳﺎﻣزآ مﺎﺠﻧا و لﺪﻣ ﺖﺧﺎﺳ و ﻲﺣاﺮﻃ ﻚﻳدﺰﻧ ﺪﺷ ﻪﺘﻓﺮﮔ ﺮﻈﻧرد ﺖﺧﺎﺳ ﻞﺑﺎﻗ لﺪﻣ ﻪﺑ ﺮﺗ
هار يﺪﻨﻠﺑ هﺪﻧور هدوﺪﺤﻣ و
ﺘﻛﺮﺣ ﻲ دراد لﺪﻣ
ﻚﻴﺘﻧژ ﺖﺳا هﺪﺷ دﺎﻬﻨﺸﻴﭘ
ﺖﺳد ياﺮﺑ ﺎﻫدرﻮﺧﺮﺑ ﻠﻛ ﻴ ﺪ ژاو نﺎﮔ : مﺪﻗ
and experiment of a passive walking biped: effects of structural parameters on
efficiency, stability and robustness on uneven trains
like, stable limit cycle on small slopes without any related researches going on in the the novelty of the concept, investigating the effects of structural parameters on walking performance and finding their optimums, simulating the biped and establishing a trend to its optimal design and build,
In this research, a deployed model of biped that can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and s and their optimum limits have been investigated. It was shown that the foot arc radius and center of mass height have the most important effect on walking performance.
MS software, an optimum design trend has been suggested. At the end based on experimental results, it was shown beside optimization of structural parameters, considering the impact condition as well would be very important to achieve optimal walking.
ﻜﭼ ﺪﻨﺷﺎﺑ ﻪﺘﺷاد ،ﻲﺟرﺎﺧ ﺖﺳا ﺶﻳﺎﻣزآ مﺎﺠﻧا و لﺪﻣ ﺖﺧﺎﺳ و ﻲﺣاﺮﻃ ﻚﻳدﺰﻧ هار يﺪﻨﻠﺑ ﺘﻛﺮﺣ ﻚﻴﺘﻧژ ﺖﺳد ياﺮﺑ ﺎﻫدرﻮﺧﺮﺑ ﻠﻛ
like, stable limit cycle on small slopes without any in the the novelty of the concept, investigating the effects of structural parameters on walking build, In this research, a deployed model of biped that can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and s and their optimum limits have been investigated. It was shown that the foot arc radius and center of mass height have the most important effect on walking performance.
MS software, an optimum design trend has been suggested. At the end based on experimental results, it was shown beside optimization of
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ﻲﺗادﺎﺳ يدﺎﻫ ﺪﻤﺤﻣﺪ رﺎﻜﻤﻫ و
نا
53
ﮓﻧوآ ﻚﻳ ناﻮﻨﻋ ﻪﺑ يا ار ﺖﻛﺮﺣ
"
هار ﻦﺘﻓر
ﺮﻴﮔ رد 1990
ﺮﻓ ﻚﻳ ﺪﻧاﻮﺗ ا
ﻼﻣﺎﻛ ﺪﻨﻳ ﻦﻴﺷﺎﻣ زا يﺎﻫ
ﻲﻜﻴﻣﺎﻨﻳد دﻮﻣ ﻚﻳ ﺎﻫ ﻚﻳ ياﺮﺑ ﻢﻛ ﺐﻴﺷ ﻚﻳ يور ﺮﺑ
ﺖﻛﺮﺣ ﻚﻳ ﻪﺑ ﻲﻬﺘﻨﻣ ﻲﻟﺎﺣ رد ،ﻪﻋﻮﻤﺠﻣ ﻦﻳا ﻪﺑ ﻖﻠﻌﺘﻣ ﻦﻴﺷﺎﻣ يژﺮﻧا ﭻﻴﻫ ﻪﻛ دﻮﺷ
راﺪﻳﺎﭘ ﺖﻛﺮﺣ ﻦﻳا
ﺎﺑ ﺎﭘ درﻮﺧﺮﺑ مﺎﮕﻨﻫ ﻪﺑ هﺪﺷ
يژﺮﻧا ﺎﺑ ،ﺖﻛﺮﺣ ﻦﻴﺣ رد ﻲﻟﺎﻤﺘﺣا يﺎﻫ ﻢﻫ و يرﻮﺌﺗ ترﻮﺻ
دﺮﻛ ﺖﺑﺎﺛ ار ﻪﻠﺌﺴﻣ ﻦﻳا ﺎﭘود زا ﻲﻳﺎﻫ .
ﺲﭘ
لﺪﻣ ﺪﻨﻧﺎﻣ يﺎﻫ
لﺪﻣ و يﺎﻫ ياراد
هار ﻦﻳﺮﺗ هﺪﻧور يﺎﻫ
رد ﻪﻛ ﺖﺳا ﺖﺳد و ﻮﻧاز ﺎﺑ يﺪﻌﺑ
لﺎﺳ رد ﺎﻨﻳور يﺪﻧا ﻲﺘﺳﺮﭘﺮﺳ ﻪﺑ 2001
ﻪﺘﺧﺎﺳ
يور ﺮﺑ تﺎﻘﻴﻘﺤﺗ ﺮﻴﺧا يﺎﻫ هﺎﮕﺸﻧاد رد لﺎﻌﻓ يﺎﻫ
ﻞﻧﺮﻛ هﺎﮕﺸﻧاد يﺪﻌﺑ 5]
[
4. Ballistic walking 5. Cornell University
ﻲﺗادﺎﺳ يدﺎﻫ ﺪﻤﺤﻣﺪ
هﺪﻨﻨﻛ ﻊﻧﺎﻗ ترﻮﺻ ﻪﺑ ﺪﻧاﻮﺗ
ﮓﻧوآ ﻚﻳ ناﻮﻨﻋ ﻪﺑ يا عﻮﻧ ﻦﻳا ﺎﻫ ار ﺖﻛﺮﺣ
ﺐﻠﻄﻣ ﻦﻳا لﺎﺒﻧد ﻪﺑ ﻚﻣ
ﺮﻴﮔ
ﻲﻣ ﻦﺘﻓر ﺮﻓ ﻚﻳ ﺪﻧاﻮﺗ
ﺪﻨﻛ :
"
ﻪﻋﻮﻤﺠﻣ يا
نآ ياﺮﺑ ﻦﺘﻓر ﻲﻜﻴﻣﺎﻨﻳد دﻮﻣ ﻚﻳ ﺎﻫ
ﻚﻳ ياﺮﺑ ﻢﻛ ﺐﻴﺷ ﻚﻳ يور ﺮﺑ
ﺖﻛﺮﺣ ﻚﻳ ﻪﺑ ﻲﻬﺘﻨﻣ ﻲﻟﺎﺣ رد ،ﻪﻋﻮﻤﺠﻣ ﻦﻳا ﻪﺑ ﻖﻠﻌﺘﻣ ﻦﻴﺷﺎﻣ ﻲﻣ ﻲﻌﻴﺒﻃ ﻦﺘﻓر
يژﺮﻧا ﭻﻴﻫ ﻪﻛ دﻮﺷ
ﺖﺴﻴﻧ مزﻻ نآ ياﺮﺑ ﻲﻟﺮﺘﻨﻛ و يدورو .
"
راﺪﻳﺎﭘ ﺖﻛﺮﺣ ﻦﻳا
ﺎﺑ ﺎﭘ درﻮﺧﺮﺑ مﺎﮕﻨﻫ ﻪﺑ هﺪﺷ
يژﺮﻧا ﺎﺑ ،ﺖﻛﺮﺣ ﻦﻴﺣ رد ﻲﻟﺎﻤﺘﺣا يﺎﻫ ﻪﺑ ﻢﻫ وا
ﻢﻫ و يرﻮﺌﺗ ترﻮﺻ
دﺮﻛ ﺖﺑﺎﺛ ار ﻪﻠﺌﺴﻣ ﻦﻳا ﺎﭘود زا ﻲﻳﺎﻫ يﺎﻫ
ﻲﻔﻠﺘﺨﻣ لﺪﻣ ﺪﻨﻧﺎﻣ
ﻪﻨﺗﻻﺎﺑ ياراد يﺎﻫ 4]
لﺪﻣ و [
ﺖﻓﺎﻳ ﻪﻣادا ن .
ﻞﻣﺎﻛ هار ﻦﻳﺮﺗ
رد ﻪﻛ ﺖﺳا ﺖﺳد و ﻮﻧاز ﺎﺑ يﺪﻌﺑ
لﺎﺳ رد ﺎﻨﻳور يﺪﻧا ﻲﺘﺳﺮﭘﺮﺳ ﻪﺑ لﺎﺳ رد
يور ﺮﺑ تﺎﻘﻴﻘﺤﺗ ﺮﻴﺧا يﺎﻫ ﻪﻤﻴﻧ هﺎﮕﺸﻧاد رد لﺎﻌﻓ
دراد ﻪﻣادا و ﻪﺘﻓﺮﮔ مﺎﺠﻧا ﺎﻴﻧد رد يرﺎﻴﺴﺑ 6]
- 11 .[
ﻪﺳ لﺎﻌﻓﺮﻴﻏ ﻞﻧﺮﻛ هﺎﮕﺸﻧاد يﺪﻌﺑ
Ballistic walking
l University
ﺳ ﻴ ﻲﺗادﺎﺳ يدﺎﻫ ﺪﻤﺤﻣﺪ
هﺪﻨﻨﻛ ﻊﻧﺎﻗ ترﻮﺻ ﻪﺑ ﺪﻧاﻮﺗ
دﻮﺷ لﺪﻣ لﺎﻌﻓﺮﻴﻏ ﻲﻳﺎﺗود .
نآ عﻮﻧ ﻦﻳا ﺎﻫ
. ﺐﻠﻄﻣ ﻦﻳا لﺎﺒﻧد ﻪﺑ
هار ﻪﻛ داد نﺎﺸﻧ يدﻼﻴﻣ ﻲﻣ ﻦﺘﻓر
ﻲﻣ نﺎﻴﺑ يو ﺪﻨﻛ
هار ﻪﻛ ﺖﺳا دﻮﺟﻮﻣ ﺎﭘ نآ ياﺮﺑ ﻦﺘﻓر
هﺪﺷزﺎﻏآ ﺖﻛﺮﺣ ﻚﻳ ياﺮﺑ ﻢﻛ ﺐﻴﺷ ﻚﻳ يور ﺮﺑ
ﺖﻛﺮﺣ ﻚﻳ ﻪﺑ ﻲﻬﺘﻨﻣ ﻲﻟﺎﺣ رد ،ﻪﻋﻮﻤﺠﻣ ﻦﻳا ﻪﺑ ﻖﻠﻌﺘﻣ ﻦﻴﺷﺎﻣ هار ﺎﺑ ﻪﺴﻳﺎﻘﻣ ﻞﺑﺎﻗ راﺪﻳﺎﭘ ﻲﻣ ﻲﻌﻴﺒﻃ ﻦﺘﻓر
ﺖﺴﻴﻧ مزﻻ نآ ياﺮﺑ ﻲﻟﺮﺘﻨﻛ و يدورو ﻒﻠﺗ يژﺮﻧا يﺮﺑاﺮﺑ
ﺎﺑ ﺎﭘ درﻮﺧﺮﺑ مﺎﮕﻨﻫ ﻪﺑ هﺪﺷ
فﻼﺗا ﺮﻳﺎﺳ و يژﺮﻧا ﺎﺑ ،ﺖﻛﺮﺣ ﻦﻴﺣ رد ﻲﻟﺎﻤﺘﺣا يﺎﻫ
ﺖﺳا ﻪﺑذﺎﺟ زا ﻲﺷﺎﻧ يدورو .
ﻪﺑ ﻢﻫ وا
لﺪﻣ ﺖﺧﺎﺳ ﺎﺑ ﻲﺑﺮﺠﺗ دﺮﻛ ﺖﺑﺎﺛ ار ﻪﻠﺌﺴﻣ ﻦﻳا ﺎﭘود زا ﻲﻳﺎﻫ
لﺪﻣ ﻪﺋارا ﺎﺑ ﺪﻧور ﻦﻳا وا زا يﺎﻫ
لﺪﻣ ، ﻪﻨﺗﻻﺎﺑ ياراد يﺎﻫ
ﺎﻘﻘﺤﻣ ﺮﻳﺎﺳ ﻂﺳﻮﺗ ﺖﻓﺎﻳ ﻪﻣادا ن
ﻪﻧﻮﻤﻧ ،لﺎﻌﻓﺮﻴﻏ يﺎﭘود ﻪﺳ
رد ﻪﻛ ﺖﺳا ﺖﺳد و ﻮﻧاز ﺎﺑ يﺪﻌﺑ
لﺎﺳ رد ﺎﻨﻳور يﺪﻧا ﻲﺘﺳﺮﭘﺮﺳ ﻪﺑ 2 ( 5] .[ لﺎﺳ رد
و لﺎﻌﻓﺮﻴﻏ يﺎﭘود
دراد ﻪﻣادا و ﻪﺘﻓﺮﮔ مﺎﺠﻧا ﺎﻴﻧد رد يرﺎﻴﺴﺑ
هﺪﻧور هار ﻪﺳ لﺎﻌﻓﺮﻴﻏ
ﻲﻣ نﺎﺴﻧا يﺎﭘ هﺪﻨﻨﻛ ﻊﻧﺎﻗ ترﻮﺻ ﻪﺑ ﺪﻧاﻮﺗ
دﻮﺷ لﺪﻣ لﺎﻌﻓﺮﻴﻏ ﻲﻳﺎﺗود ﻲﺑﺎﺗﺮﭘ
"
ﺪﻧﺪﻴﻣﺎﻧ 4
.
هار ﻪﻛ داد نﺎﺸﻧ يدﻼﻴﻣ ﺪﺷﺎﺑ شﻮﺟدﻮﺧ .
ﻲﻣ نﺎﻴﺑ يو
هار ﻪﻛ ﺖﺳا دﻮﺟﻮﻣ ﺎﭘ ﺖﺳا ﻲﻌﻴﺒﻃ .
هﺪﺷزﺎﻏآ ﺖﻛﺮﺣ
ﺖﻛﺮﺣ ﻚﻳ ﻪﺑ ﻲﻬﺘﻨﻣ ﻲﻟﺎﺣ رد ،ﻪﻋﻮﻤﺠﻣ ﻦﻳا ﻪﺑ ﻖﻠﻌﺘﻣ ﻦﻴﺷﺎﻣ هار ﺎﺑ ﻪﺴﻳﺎﻘﻣ ﻞﺑﺎﻗ راﺪﻳﺎﭘ ﺖﺴﻴﻧ مزﻻ نآ ياﺮﺑ ﻲﻟﺮﺘﻨﻛ و يدورو ﻪﺠﻴﺘﻧ ﺎﭘود ﻒﻠﺗ يژﺮﻧا يﺮﺑاﺮﺑ
ﻦﻴﻣز فﻼﺗا ﺮﻳﺎﺳ و ﺖﺳا ﻪﺑذﺎﺟ زا ﻲﺷﺎﻧ يدورو
لﺪﻣ ﺖﺧﺎﺳ ﺎﺑ ﻲﺑﺮﺠﺗ لﺪﻣ ﻪﺋارا ﺎﺑ ﺪﻧور ﻦﻳا وا زا
يﺪﻌﺑ 3] لﺪﻣ ،[
5] ﺎﻘﻘﺤﻣ ﺮﻳﺎﺳ ﻂﺳﻮﺗ[
ﻪﻧﻮﻤﻧ ،لﺎﻌﻓﺮﻴﻏ يﺎﭘود ﻞﻧﺮﻛ هﺎﮕﺸﻧاد لﺎﺳ رد ﺎﻨﻳور يﺪﻧا ﻲﺘﺳﺮﭘﺮﺳ ﻪﺑ5
ﺖﺳا هﺪﺷ )
ﻞﻜﺷ 2
هﺪﻧور يﺎﻫ و لﺎﻌﻓﺮﻴﻏ يﺎﭘود
دراد ﻪﻣادا و ﻪﺘﻓﺮﮔ مﺎﺠﻧا ﺎﻴﻧد رد يرﺎﻴﺴﺑ
ﻞﻜﺷ 2 هﺪﻧور هار
يﺮﻳﺬﭘ
يﻻﺎﺑ فﺮﺼﻣ ﺎﻣا ،ﺪﻧا ﻪﺋارا ﺎﺑ
2ﺮﻴﮔ
و نﺎﺴﻧا رد ﻲﻧز شور رد
و لﺮﺘﻨﻛ ﻪﻧﻮﮔ حﻮﻄﺳ يور ﺮﺑ ندز
يژﺮﻧا فﺮﺼﻣ رﺎﻴﻌﻣ زا يا
، هﺪﺷ
،
و اﺪﻧﻮﻫ ﺖﻛﺮﺷ تﺎﺑر ،نﺎﺴﻧا يژﺮﻧا صﻮﺼﺨﻣ فﺮﺼﻣ
ﻪﻛ ﺪﻳآ
هﺪﻬﻋ ﺮﺑ ار نآ لﺮﺘﻨﻛ رد ﻪﻜﻨﻳا ﺎﻳ ﺖﺳا لﺎﻌﻓ ﻢﺘﺴﻴﺳ ﻚﻳ ،ﻒﻳﺮﻌﺗ ﺮﺑ ﺎﻨﺑ
ﺪﻨﻳآﺮﺑ ﺖﻛﺮﺣ لﻼﺧ رد ﺮﮔا ،دراد لﺎﻌﻓﺮﻴﻏ ﺖﻛﺮﺣ ﻲﻜﻴﻧﺎﻜﻣ يژﺮﻧا و ﺪﺷﺎﺑ ﺮﻔﺻ نآ رد
ﻲﻧﺎﻣز رﺎﺑ
ﻲﻧﺎﺳﻮﻧ ﺖﻛﺮﺣ ﺪﻧدﺮﻛ ﻒﺸﻛ
1. Passive walking 2. McGeer
3. McMahon & Mochon
ﻲﻣ نﺎﺴﻧا يﺎﭘ دﻮﺷ لﺪﻣ لﺎﻌﻓﺮﻴﻏ ﻲﻳﺎﺗود ﻲﺑﺎﺗﺮﭘ هار ﻪﻛ داد نﺎﺸﻧ يدﻼﻴﻣ ﺪﺷﺎﺑ شﻮﺟدﻮﺧ ود هار ﻪﻛ ﺖﺳا دﻮﺟﻮﻣ ﺎﭘ
ﺖﺳا ﻲﻌﻴﺒﻃ ﺖﻛﺮﺣ ﻚﻳ ﻪﺑ ﻲﻬﺘﻨﻣ ﻲﻟﺎﺣ رد ،ﻪﻋﻮﻤﺠﻣ ﻦﻳا ﻪﺑ ﻖﻠﻌﺘﻣ ﻦﻴﺷﺎﻣ هار ﺎﺑ ﻪﺴﻳﺎﻘﻣ ﻞﺑﺎﻗ راﺪﻳﺎﭘ ﺖﺴﻴﻧ مزﻻ نآ ياﺮﺑ ﻲﻟﺮﺘﻨﻛ و يدورو ﻪﺠﻴﺘﻧ ﺎﭘود ﻦﻴﻣز ﺖﺳا ﻪﺑذﺎﺟ زا ﻲﺷﺎﻧ يدورو لﺪﻣ ﺖﺧﺎﺳ ﺎﺑ ﻲﺑﺮﺠﺗ لﺪﻣ ﻪﺋارا ﺎﺑ ﺪﻧور ﻦﻳا وا زا ﻪﺳ يﺪﻌﺑ
ﻮﻧاز ] ﻪﻧﻮﻤﻧ ،لﺎﻌﻓﺮﻴﻏ يﺎﭘود
ﻞﻧﺮﻛ هﺎﮕﺸﻧاد ﺖﺳا هﺪﺷ هار هﺪﻧور دراد ﻪﻣادا و ﻪﺘﻓﺮﮔ مﺎﺠﻧا ﺎﻴﻧد رد يرﺎﻴﺴﺑ
ﺎﭘود ي ...
ﺪﻨﻔﺳا
1391
فﺎﻄﻌﻧا ﻞﻴﻟد يﺮﻳﺬﭘ
يﻻﺎﺑ فﺮﺼﻣ ﺎﻣا ،ﺪﻧا
نآ زا يدﺮﺑرﺎﻛ هدﺎﻔﺘﺳا مﺪﻋ ﻞﻴﻟد ﻦﻳﺮﺗ ﺖﺳﺎﻫ
. ﻪﺋارا ﺎﺑ
1990 ﻚﻣ ﻂﺳﻮﺗ ﺮﻴﮔ
و نﺎﺴﻧا رد ﻲﻧز
ﺪﺷ هدﻮﺸﮔ هدزﺎﺑﺮﭘ يﺎﻫ 1]
.[ شور رد
ﭻﻴﻫ نوﺪﺑ ،ﺎﭘود يﺎﻫ و لﺮﺘﻨﻛ ﻪﻧﻮﮔ
حﻮﻄﺳ يور ﺮﺑ ندز يژﺮﻧا فﺮﺼﻣ رﺎﻴﻌﻣ زا يا
لﺎﻌﻓﺮﻴﻏ و لﺎﻌﻓ يﺎﭘود ﻪﺘﺧﺎﺳ
هﺪﺷ
و اﺪﻧﻮﻫ ﺖﻛﺮﺷ تﺎﺑر ،نﺎﺴﻧا يژﺮﻧا صﻮﺼﺨﻣ فﺮﺼﻣ [
ﻪﺑ هﺪﻴﭽﻴﭘ ﻼﻣﺎﻛ ﻲﻣ ﺮﻈﻧ
ﻪﻛ ﺪﻳآ
هﺪﻬﻋ ﺮﺑ ار نآ لﺮﺘﻨﻛ رد ﻪﻜﻨﻳا ﺎﻳ ﺖﺳا لﺎﻌﻓ ﻢﺘﺴﻴﺳ ﻚﻳ ،ﻒﻳﺮﻌﺗ ﺮﺑ ﺎﻨﺑ
ﺪﻨﻳآﺮﺑ ﺖﻛﺮﺣ لﻼﺧ رد ﺮﮔا ،دراد لﺎﻌﻓﺮﻴﻏ ﺖﻛﺮﺣ ﻲﻜﻴﻧﺎﻜﻣ يژﺮﻧا و ﺪﺷﺎﺑ ﺮﻔﺻ نآ رد
عﻮﺿﻮﻣ ﻦﻳا ﻦﻴﻟوا
ﻲﻧﺎﻣز رﺎﺑ
ﻲﻧﺎﺳﻮﻧ ﺖﻛﺮﺣ ﺪﻧدﺮﻛ ﻒﺸﻛ
Passive walking McGeer
McMahon & Mochon
ﻳ ﺶﻳﺎﻣزآ و ﻚ
هار هﺪﻧور ﺎﭘود
ةرود 12 ةرﺎﻤﺷ 6 ، ﺪﻨﻔﺳا
تﺎﺑر ،كﺮﺤﺘﻣ يﺎﻫ ﺎﭘود يﺎﻫ
ﻪﺑ فﺎﻄﻌﻧا ﻞﻴﻟد
هدﻮﺑ ﻪﺟﻮﺗ درﻮﻣ هراﻮﻤﻫ ﺐﺳﺎﻨﻣ ﺖﻋﺮﺳ و يﻻﺎﺑ فﺮﺼﻣ ﺎﻣا ،ﺪﻧا
نآ زا يدﺮﺑرﺎﻛ هدﺎﻔﺘﺳا مﺪﻋ ﻞﻴﻟد ﻦﻳﺮﺗ لﺎﺳ رد
1990
ﺮﻓ ﻲﺳرﺮﺑ ياﺮﺑ يﺪﻳﺪﺟ ا
مﺪﻗ ﺪﻨﻳ و نﺎﺴﻧا رد ﻲﻧز
ﺪﺷ هدﻮﺸﮔ هدزﺎﺑﺮﭘ يﺎﻫ ﭻﻴﻫ نوﺪﺑ ،ﺎﭘود يﺎﻫ
مﺪﻗ ﻲﻳﺎﻧاﻮﺗ حﻮﻄﺳ يور ﺮﺑ ندز
ﻪﺴﻳﺎﻘﻣ يژﺮﻧا فﺮﺼﻣ رﺎﻴﻌﻣ زا يا
لﺎﻌﻓﺮﻴﻏ و لﺎﻌﻓ يﺎﭘود
و اﺪﻧﻮﻫ ﺖﻛﺮﺷ تﺎﺑر ،نﺎﺴﻧا يژﺮﻧا صﻮﺼﺨﻣ فﺮﺼﻣ ﻞﻧﺮﻛ هﺎﮕﺸﻧاد لﺎﻌﻓ
2] [
ﻪﺑ هﺪﻴﭽﻴﭘ ﻼﻣﺎﻛ ﻪﻔﻴﻇو ﻲﺒﺼﻋ هﺪﻬﻋ ﺮﺑ ار نآ لﺮﺘﻨﻛ
ﻼﻣﺎﻛ ﻲﻟﺮﺘﻨﻛ ﻢﺘﺴﻴﺳ ﻦﻳا ﺎﻳآ ﺎﻣا رد ﻪﻜﻨﻳا ﺎﻳ ﺖﺳا لﺎﻌﻓ
؟ﺪﻨﻛ ﻞﻤﻋ ﻢﺘﺴﻴﺳ ﻚﻳ ،ﻒﻳﺮﻌﺗ ﺮﺑ ﺎﻨﺑ
ﺪﻨﻳآﺮﺑ ﺖﻛﺮﺣ لﻼﺧ رد ﺮﮔا ،دراد لﺎﻌﻓﺮﻴﻏ ﺖﻛﺮﺣ ﻲﻜﻴﻧﺎﻜﻣ يژﺮﻧا فﻼﺗا و ﻲﺸﻧاﺮﮔ يدورو ﺎﻫ
يژﺮﻧا و ﺪﺷﺎﺑ ﺮﻔﺻ نآ رد
دﻮﺸﻧ لﺎﻤﻋا نآ ﺮﺑ ﻲﺟرﺎﺧ .
عﻮﺿﻮﻣ ﻦﻳا
نﺎﻛﻮﻣ و ﻦﻫﻮﻣ ﻲﻧﺎﺳﻮﻧ ﺖﻛﺮﺣ ﺪﻧدﺮﻛ ﻒﺸﻛ3
Passive walking
McMahon & Mochon
ﺖﺧﺎﺳ ﻳ ﺶﻳﺎﻣزآ و
سرﺪﻣ ﻚﻴﻧﺎﻜﻣ ﻲﺳﺪﻨﻬﻣ
ةرود
تﺎﺑر ،كﺮﺤﺘﻣ يﺎﻫ
هدﻮﺑ ﻪﺟﻮﺗ درﻮﻣ هراﻮﻤﻫ ﺐﺳﺎﻨﻣ ﺖﻋﺮﺳ و نآ زا يدﺮﺑرﺎﻛ هدﺎﻔﺘﺳا مﺪﻋ ﻞﻴﻟد ﻦﻳﺮﺗ
هﺪﻧور لﺎﻌﻓﺮﻴﻏ
1
ﺮﻓ ﻲﺳرﺮﺑ ياﺮﺑ يﺪﻳﺪﺟ تﺎﺑر ﻲﺣاﺮﻃ ﻦﻴﻨﭽﻤﻫ ﺪﺷ هدﻮﺸﮔ هدزﺎﺑﺮﭘ يﺎﻫ
لﺎﻌﻓ مﺰﻴﻧﺎﻜﻣ ﭻﻴﻫ نوﺪﺑ ،ﺎﭘود يﺎﻫ
ﺰﻴﭼﺎﻧ يدورو يژﺮﻧا ﺎﺑ ﺎﻬﻨﺗ
،
ﺪﻧراد ار راﺪﺒﻴﺷ .
ﻞﻜﺷ رد 1
ﻪﺴﻳﺎﻘﻣ
تﺎﺑر ﻦﻳﺮﺗ يﺎﻫ
لﺎﻌﻓﺮﻴﻏ و لﺎﻌﻓ يﺎﭘود
ﺖﺳا هﺪﺷ هدروآ نﺎﺴﻧا ﺎﺑ .
و اﺪﻧﻮﻫ ﺖﻛﺮﺷ تﺎﺑر ،نﺎﺴﻧا يژﺮﻧا صﻮﺼﺨﻣ فﺮﺼﻣ ﻪﻤﻴﻧ ﻲﻳﺎﭘود لﺪﻣ ﻞﻧﺮﻛ هﺎﮕﺸﻧاد لﺎﻌﻓ
ﺮﻓ ﻚﻳ ﻦﺘﻓر ا
ﺪﻨﻳ ﻪﺑ هﺪﻴﭽﻴﭘ ﻼﻣﺎﻛ
ﻪﭽﻴﻫﺎﻣ يﺎﻫ يا
- ﻪﻔﻴﻇو ﻲﺒﺼﻋ
ﻼﻣﺎﻛ ﻲﻟﺮﺘﻨﻛ ﻢﺘﺴﻴﺳ ﻦﻳا ﺎﻳآ ﺎﻣا لﺎﻌﻓﺮﻴﻏ ﺪﻧاﻮﺗ ؟ﺪﻨﻛ ﻞﻤﻋ
ﺪﻨﻳآﺮﺑ ﺖﻛﺮﺣ لﻼﺧ رد ﺮﮔا ،دراد لﺎﻌﻓﺮﻴﻏ ﺖﻛﺮﺣ ﻲﻜﻴﻧﺎﻜﻣ يژﺮﻧا فﻼﺗا و ﻲﺸﻧاﺮﮔ يدورو دﻮﺸﻧ لﺎﻤﻋا نآ ﺮﺑ ﻲﺟرﺎﺧ
ﻚﻣ ﻪﻛ ﺪﺷ حﺮﻄﻣ نﺎﻛﻮﻣ و ﻦﻫﻮﻣ
ﺣاﺮﻃ
،ﻪﻨﻴﻬﺑ ﻲ ﺖﺧﺎﺳ
سرﺪﻣ ﻚﻴﻧﺎﻜﻣ ﻲﺳﺪﻨﻬﻣ
1 - ﻪﻣﺪﻘﻣ
رد تﺎﺑر نﺎﻴﻣ تﺎﺑر ،كﺮﺤﺘﻣ يﺎﻫ
هدﻮﺑ ﻪﺟﻮﺗ درﻮﻣ هراﻮﻤﻫ ﺐﺳﺎﻨﻣ ﺖﻋﺮﺳ و ﻢﻬﻣ يژﺮﻧا نآ زا يدﺮﺑرﺎﻛ هدﺎﻔﺘﺳا مﺪﻋ ﻞﻴﻟد ﻦﻳﺮﺗ
لﺪﻣ ﻦﻴﻟوا هار
هﺪﻧور
ﻪﭽﻳرد ﺮﻓ ﻲﺳرﺮﺑ ياﺮﺑ يﺪﻳﺪﺟ
تﺎﺑر ﻲﺣاﺮﻃ ﻦﻴﻨﭽﻤﻫ هار ﺮﻴﻏ ﻦﺘﻓر لﺎﻌﻓ
ﺰﻴﭼﺎﻧ يدورو يژﺮﻧا ﺎﺑ ﺎﻬﻨﺗ ﺪﻧراد ار راﺪﺒﻴﺷ فوﺮﻌﻣ ياﺮﺑ تﺎﺑر ﻦﻳﺮﺗ
ﺖﺳا هﺪﺷ هدروآ نﺎﺴﻧا ﺎﺑ
ﻞﻜﺷ 1 ﻪﺴﻳﺎﻘﻣ ﻪﻤﻴﻧ ﻲﻳﺎﭘود لﺪﻣ
هار ﺮﻓ ﻚﻳ ﻦﺘﻓر
ﻢﺘﺴﻴﺳ ﻪﭽﻴﻫﺎﻣ يﺎﻫ
ﺪﻧراد . ﻼﻣﺎﻛ ﻲﻟﺮﺘﻨﻛ ﻢﺘﺴﻴﺳ ﻦﻳا ﺎﻳآ ﺎﻣا
ﻲﻣ ﻲﻄﻳاﺮﺷ لﺎﻌﻓﺮﻴﻏ ﺪﻧاﻮﺗ
ﺪﻨﻳآﺮﺑ ﺖﻛﺮﺣ لﻼﺧ رد ﺮﮔا ،دراد لﺎﻌﻓﺮﻴﻏ ﺖﻛﺮﺣ ﻲﻜﻴﻧﺎﻜﻣ يژﺮﻧا يژﺮﻧا فﻼﺗا و ﻲﺸﻧاﺮﮔ يدورو
لﺮﺘﻨﻛ و دﻮﺸﻧ لﺎﻤﻋا نآ ﺮﺑ ﻲﺟرﺎﺧ
ﻚﻣ ﻪﻛ ﺪﺷ حﺮﻄﻣ
سرﺪﻣ ﻚﻴﻧﺎﻜﻣ ﻲﺳﺪﻨﻬﻣ
1 رد هدﻮﺑ ﻪﺟﻮﺗ درﻮﻣ هراﻮﻤﻫ ﺐﺳﺎﻨﻣ ﺖﻋﺮﺳ و ﻢﻬﻣ يژﺮﻧا لﺪﻣ ﻦﻴﻟوا ﻪﭽﻳرد تﺎﺑر ﻲﺣاﺮﻃ ﻦﻴﻨﭽﻤﻫ هار ﺰﻴﭼﺎﻧ يدورو يژﺮﻧا ﺎﺑ ﺎﻬﻨﺗ ﺪﻧراد ار راﺪﺒﻴﺷ فوﺮﻌﻣ ياﺮﺑ ﺖﺳا هﺪﺷ هدروآ نﺎﺴﻧا ﺎﺑ
ﻞﻜﺷ
ﻢﺘﺴﻴﺳ ﺪﻧراد ﻲﻣ ﻲﻄﻳاﺮﺷ ﺪﻨﻳآﺮﺑ ﺖﻛﺮﺣ لﻼﺧ رد ﺮﮔا ،دراد لﺎﻌﻓﺮﻴﻏ ﺖﻛﺮﺣ ﻲﻜﻴﻧﺎﻜﻣ يژﺮﻧا لﺮﺘﻨﻛ و ﻚﻣ ﻪﻛ ﺪﺷ حﺮﻄﻣ
[ Downloaded from mme.modares.ac.ir on 2022-10-31 ]
ﻲﺗادﺎﺳ يدﺎﻫ ﺪﻤﺤﻣﺪ رﺎﻜﻤﻫ و
نا
ةرﺎﻤﺷ 6 ، ﺪﻨﻔﺳا 1391
ﺪﻫد ﺮﻴﻴﻐﺗ ﺎﻫ .
ﻦﻳا
هار هﺪﻧور هدﺎﺳ
ﺳرﺮﺑ درﻮﻣ ﻲ
ﺮﻗ را
هﺪﺸﻧ ﻪﺋارا هﺪﺷ
هدﺎﺳ زا ﻪﺘﻓﺮﮔﺮﺑ هدﺎﻔﺘﺳا درﻮﻣ لﺪﻣ ﻦﻳﺮﺗ
هدﺮﺘﺴﮔ مﺮﺟ ياراد ﺎﻫﺎﭘ ﻪﻛ توﺎﻔﺗ ﻦﻳا ﺎﺑ ﺪﺷﺎﺑ ﺎﭘ داﺪﺘﻣا رد ﺪﻧاﻮﺗ
ﺪﻨﻛ ﺮﻴﻴﻐﺗ و
ﺺﺨﺸﻣ عﺎﻌﺷ ياراد و يا ﺖﺳا
؛
ﺖﺳا هﺪﺷ هدوﺰﻓا ﺰ )
ﻞﻜﺷ 1 (.
رد ﺰﻛﺮﻤﺘﻣ مﺮﺟ
،مﺮﺟ ﺰﻛﺮﻣ لﻮﺣ ﺎﭘ ﻲﻧارود ﺎﭘ لﻮﻃ
،
،ﺢﻄﺳ ﺐﻴﺷ
ﻦﻴﺑ ﻪﻳواز
و ﺎﭘود ﻦﻴﺑ
ﻲﺘﺨﺳ
ﻲ ﻪﻈﺤﻟ زا ﺖﻛﺮﺣ ﺪﻨﻠﺑ
ﻦﻴﻧاﻮﻗ ،درﻮﺧﺮﺑ ود رد ﺖﻛﺮﺣ ﻪﺑ ﺎﻫﺎﭘ درﻮﺧﺮﺑ
ﺲﭘ ﻪﻛ ترﻮﺻ ﻦﻳا ﻪﺑ ﺪﺷﺎﺑ ﺎﺑ ﺎﻫﺎﭘ درﻮﺧﺮﺑ ﻼﻣﺎﻛ ﻦﻴﻣز
راﺮﻗ ﻦﻴﻣز يور ﺮﺑ
ﻲﺗادﺎﺳ يدﺎﻫ ﺪﻤﺤﻣﺪ
سرﺪﻣ ﻚﻴﻧﺎﻜﻣ ﻲﺳﺪﻨﻬﻣ
ةرود 12 ةرﺎﻤﺷ
ﺶﻴﭘ ﻪﺑ ﺖﺒﺴﻧ تﺪﺷ ﻲﻨﻴﺑ
ﺪﻫد ﺮﻴﻴﻐﺗ ﺎﻫ ﻬﺑ ﻴ ﻪﻨ لﺪﻣ ﺎﻫ ي
ﻪ ﻞﻣﺎﻛ رﻮﻃ ﺳرﺮﺑ درﻮﻣ
ﺮﺸﺘﻨﻣ تﻻﺎﻘﻣ رد نآ ﻪﺑ طﻮﺑﺮﻣ هﺪﺸﻧ ﻪﺋارا هﺪﺷ
هدﺎﺳ زا ﻪﺘﻓﺮﮔﺮﺑ هدﺎﻔﺘﺳا درﻮﻣ هدﺮﺘﺴﮔ مﺮﺟ ياراد ﺎﻫﺎﭘ ﻪﻛ توﺎﻔﺗ ﻦﻳا ﺎﺑ ﺪﺷﺎﺑ
ﺎﭘ داﺪﺘﻣا رد ﺪﻧاﻮﺗ ﺺﺨﺸﻣ عﺎﻌﺷ ياراد و يا
ﺖﺳا هﺪﺷ هدوﺰﻓا ﺰ ،ﺎﭘ مﺮﺟ
رد ﺰﻛﺮﻤﺘﻣ مﺮﺟ
،مﺮﺟ ﺰﻛﺮﻣ لﻮﺣ ﺎﭘ ﻲﻧارود
،نار ﺰﻛﺮﻣ زا ﺎﭘ مﺮﺟ ﺰﻛﺮﻣ
،ﺢﻄﺳ ﺐﻴﺷ ﻪﻳواز و ﺎﭘود ﻦﻴﺑ
ﺎﭘود ي درﻮﻣ ﺳرﺮﺑ ﻲ
ﺖﺳا : ﻪﻈﺤﻟ زا ﺖﻛﺮﺣ
ﻪﻈﺤﻟ ﻦﻴﻴﻌﺗ )
طﺮﺷ ( ﻦﻴﻧاﻮﻗ ،درﻮﺧﺮﺑ
ﻪﻈﺤﻟ رد زﺎﻓ يﺎﻀﻓ يﺎﻫﺮﻴﻐﺘﻣ لﺎﻘﺘﻧا درﻮﺧﺮﺑ
.
حﺮﺷ ﻦﻳا ﻪﺑ ﺖﺳا
:
ﺐﻠﺻ ﺖﻛﺮﺣ ﺢﻄﺳ ﺖﺳا
؛ ﻪﺑ ﺎﻫﺎﭘ درﻮﺧﺮﺑ
ﻲﻣ ﻚﻴﺘﺳﻼﭘ ﻼﻣﺎﻛ ترﻮﺻ ﻪﺑ ﻦﻴﻣز ﺲﭘ ﻪﻛ ترﻮﺻ ﻦﻳا ﻪﺑ ﺪﺷﺎﺑ
؛ ﺎﺑ ﺎﻫﺎﭘ درﻮﺧﺮﺑ
ﻢﻫ ﺎﺑ ﺎﭘ ود هﺎﮔ راﺮﻗ ﻦﻴﻣز يور ﺮﺑ
ﺳ ﻴ ﻲﺗادﺎﺳ يدﺎﻫ ﺪﻤﺤﻣﺪ
سرﺪﻣ ﻚﻴﻧﺎﻜﻣ ﻲﺳﺪﻨﻬﻣ
ﺶﻴﭘ ﻪﺑ ﺖﺒﺴﻧ تﺪﺷ ﺣاﺮﻃ ﻞﺋﺎﺴﻣ زا ﻲ
ﻬﺑ
ﻳ ﻦﻴﺸﻴﭘ يﺎﻫ ﺎ
ﺑ ﻪ
ﺮﺸﺘﻨﻣ تﻻﺎﻘﻣ رد نآ ﻪﺑ طﻮﺑﺮﻣ .
هدﺎﺳ زا ﻪﺘﻓﺮﮔﺮﺑ هدﺎﻔﺘﺳا درﻮﻣ هدﺮﺘﺴﮔ مﺮﺟ ياراد ﺎﻫﺎﭘ ﻪﻛ توﺎﻔﺗ ﻦﻳا ﺎﺑ ﺪﺷﺎﺑ
ﻲﻣ مﺮﺟ ﺰﻛﺮﻣ ﺖﻴﻌﻗﻮﻣ ﺎﭘ داﺪﺘﻣا رد ﺪﻧاﻮﺗ
ﻪﺑ هﺮﻳاد ترﻮﺻ ﺺﺨﺸﻣ عﺎﻌﺷ ياراد و يا
ﻴﻧ ﻲﺸﭽﻴﭘ ﺮﻨﻓ ﻚﻳ ﺎﭘود نﺎﻴﻣ رد ﺖﺳا هﺪﺷ هدوﺰﻓا ﺰ
ترﺎﺒﻋ لﺪﻣ ا
زا ﺪﻧ :
ﻲﺘﺨﻟ
،مﺮﺟ ﺰﻛﺮﻣ لﻮﺣ ﺎﭘ ﻲﻧارود
،نار ﺰﻛﺮﻣ زا ﺎﭘ مﺮﺟ ﺰﻛﺮﻣ ،ﺢﻄﺳ ﺮﺑ دﻮﻤﻋ ﻂﺧ و ﺖﺑﺎﺛ يﺎﭘ
3 ﺎﻤﻧ ي لﺪﻣ ﺎﭘود
ﻪﻠﺣﺮﻣ ﻪﺳ ﻞﻣﺎﺷ يزﺎﺳ
،درﻮﺧﺮﺑ ﻪﻈﺤﻟ ﻦﻴﻴﻌﺗ
ﻪﻈﺤﻟ رد زﺎﻓ يﺎﻀﻓ يﺎﻫﺮﻴﻐﺘﻣ لﺎﻘﺘﻧا ﻪﻠﺌﺴﻣ ﺮﺑ ﻢﻛﺎﺣ تﺎﻴﺿﺮﻓ حﺮﺷ ﻦﻳا ﻪﺑ
دﻮﺷ
؛ ﺐﻠﺻ ﺖﻛﺮﺣ ﺢﻄﺳ
ﻲﻣ ﻚﻴﺘﺳﻼﭘ ﻼﻣﺎﻛ ترﻮﺻ ﻪﺑ ﻦﻴﻣز ﻲﻣ ﻦﻴﻣز ﻪﺑ ﺎﭘ درﻮﺧﺮﺑ زا ﺪﺒﺴﭼ
؛
ﭻﻴﻫ و هدﻮﺑ يا ﻢﻫ ﺎﺑ ﺎﭘ ود هﺎﮔ
سرﺪﻣ ﻚﻴﻧﺎﻜﻣ ﻲﺳﺪﻨﻬﻣ
ﺑ ار هﺪﻧور ﻪ
ﺶﻴﭘ ﻪﺑ ﺖﺒﺴﻧ تﺪﺷ
ﻲﺧﺮﺑ ﻖﻴﻘﺤﺗ ﺣاﺮﻃ ﻞﺋﺎﺴﻣ زا
ﻲﺳرﺮﺑ رد ﻪﻛ ، ﻳ ﻦﻴﺸﻴﭘ يﺎﻫ
و ﻪﺘﻓﺮﮕﻧ ﻳﺎ ﺎﺘﻧ ﻳ ﺞ ﺮﺸﺘﻨﻣ تﻻﺎﻘﻣ رد نآ ﻪﺑ طﻮﺑﺮﻣ
ﺖﺳا
، ﺮﺑرد ﻣ ﻲ ﮔ ﻴ دﺮ .
لﺪﻣ يزﺎﺳ
لﺪﻣ شﺮﺘﺴﮔ ﻪﺘﻓﺎﻳ
ﺎﻴﺳرﺎﮔ يﺎﭘود ﻲﻣ
هدﺮﺘﺴﮔ مﺮﺟ ياراد ﺎﻫﺎﭘ ﻪﻛ توﺎﻔﺗ ﻦﻳا ﺎﺑ ﺪﺷﺎﺑ
ﺘﺴﻫ ﺪﻨ
؛ ﻲﻣ مﺮﺟ ﺰﻛﺮﻣ ﺖﻴﻌﻗﻮﻣ
ﺎﭘ ﻒﻛ ﻞﻜﺷ ﺰﻴﻧ
ﻪﺑ
ﻴﻧ ﻲﺸﭽﻴﭘ ﺮﻨﻓ ﻚﻳ ﺎﭘود نﺎﻴﻣ رد يﺎﻫﺮﺘﻣارﺎﭘ ترﺎﺒﻋ لﺪﻣ
،نار ﺰﻛﺮﻣ
ﻲﺘﺨﻟ
ﻪﻠﺻﺎﻓ ،نار ﺰﻛﺮﻣ زا ﺎﭘ مﺮﺟ ﺰﻛﺮﻣ
،ﺢﻄﺳ ﺮﺑ دﻮﻤﻋ ﻂﺧ و ﺖﺑﺎﺛ يﺎﭘ نار ﻞﺼﻔﻣ ﺮﻨﻓ .
ﻞﻜﺷ
لﺪﻣ ﻪﻠﺣﺮﻣ ﻪﺳ ﻞﻣﺎﺷ يزﺎﺳ
ﻪﻈﺤﻟ ﺎﺗ ﺎﭘ نﺪﺷ
،درﻮﺧﺮﺑ
ﻪﻈﺤﻟ رد زﺎﻓ يﺎﻀﻓ يﺎﻫﺮﻴﻐﺘﻣ لﺎﻘﺘﻧا ﻪﻠﺌﺴﻣ ﺮﺑ ﻢﻛﺎﺣ تﺎﻴﺿﺮﻓ
ﻲﻣ ﻲﺳرﺮﺑ ﺪﻌﺑ دﻮﺷ
ﻲﻣ ﻚﻴﺘﺳﻼﭘ ﻼﻣﺎﻛ ترﻮﺻ ﻪﺑ ﻦﻴﻣز ﻲﻣ ﻦﻴﻣز ﻪﺑ ﺎﭘ درﻮﺧﺮﺑ زا ﻪﻈﺤﻟ ﭻﻴﻫ و هدﻮﺑ يا
حﺮﺷ تﺎﺑر
،ﻦﺘﻓر 6
ﺶﻧارﺎﻜﻤﻫ و رد ﺎﭘ
ﻲﻌﻴﺒﻃ يﺎﻫﺮﻴﺴﻣ ﺪﻣ دراد نﺎﺴﻧا ﻦﺘﻓر .
دورو زا ﻞﺒﻗ ﺎﭘود ﻚﻴﻣﺎﻨﻳد ﻪﺑ ﻪﺟﻮﺗ تروﺮﺿ هﺪﺷدﺎﻳ دراﻮﻣ ﻲﻟﺪﻣ ،هﺪﻧور
زا ﺖﻛﺮﺣ ﻂﺑاور
يزﺎﺠﻣ رﺎﻛ شور ﺮﺑ ﻲﻨﺘﺒﻣ ﻪﻛ ، يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ،يزﺎﺳ ﺮﺛا و هﺪﺷ هداد ﺮﻴﻴﻐﺗ فﺮﺼﻣ ،عﻮﻨﺘﻣ يﺎﻫ
ﺢﻄﺳ رد يﺪﻨﻠﺑ و ﻲﺘﺴﭘ زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ ،يژﺮﻧا صﻮﺼﺨﻣ ﺖﺳا هﺪﺷ ﻲﺳرﺮﺑ ﺖﻛﺮﺣ ﺖﻋﺮﺳ و ﺎﻫﺎﭘ نﺎﺳﻮﻧ راﺪﻘﻣ ،ﺖﻛﺮﺣ .
و ﻪﺴﻳﺎﻘﻣ ﻦﻴﺸﻴﭘ ﻪﺑﺎﺸﻣ يﺎﻫ ﻊﺑﺎﺗ ﻒﻳﺮﻌﺗ ﺎﺑ
ﻢﺘﻳرﻮﮕﻟا ﻚﻤﻛ ﻪﺑ ،ﺖﻛﺮﺣ ﻲﺑﺎﻳ
زا ﻞﺻﺎﺣ ﺞ
ﺖﺳا ﻪﺘﻓﺮﮔ راﺮﻗ هﺪﻧور .
يرﻮﺌﺗ يﺎﻫدروآﺮﺑ نﺪﺷ ﺮﺗ ﺎﺑ نآ ﺞﻳﺎﺘﻧ
ﺲﭙﺳ
ﻞﻣﺎﺷ ﻪﻠﺣﺮﻣ ﺞﻨﭘ رد هﺪﺷ ﺮﻴﻴﻐﺗ ،ﺮﺘ
زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ و ﺎﻫﺎﭘ نزو ،ﻪﻨﺗﻻﺎﺑ نزو يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ نﻮﻣاﺮﻴﭘ ﺞﻳﺎﺘﻧ
داد نﺎﺸﻧ ﺎﻫ
،
ﺮﺑ درﻮﺧﺮﺑ ﻂﻳاﺮﺷ ﺮﺛا ،يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﺎﺑ ﻪﺴ ﻲﺘﻛﺮﺣ دﺮﻜﻠﻤﻋ ﺪﻧاﻮﺗ
1. Honda Motors Co 2. Garcia
3. MSC
هار ﺑ ار هﺪﻧور ﻲﺧﺮﺑ ﻖﻴﻘﺤﺗ
ار ﻲﺳرﺮﺑ رد ﻪﻛ ،
و ﻪﺘﻓﺮﮕﻧ ﺖﺳا
2 - لﺪﻣ ﺎﻴﺳرﺎﮔ يﺎﭘود ﺘﺴﻫ ﺎﭘ ﻒﻛ ﻞﻜﺷ ﻴﻧ ﻲﺸﭽﻴﭘ ﺮﻨﻓ ﻚﻳ ﺎﭘود نﺎﻴﻣ رد يﺎﻫﺮﺘﻣارﺎﭘ
،نار ﺰﻛﺮﻣ ﻪﻠﺻﺎﻓ ،ﺢﻄﺳ ﺮﺑ دﻮﻤﻋ ﻂﺧ و ﺖﺑﺎﺛ يﺎﭘ نار ﻞﺼﻔﻣ ﺮﻨﻓ
لﺪﻣ ﻪﻈﺤﻟ ﺎﺗ ﺎﭘ نﺪﺷ ﻪﻈﺤﻟ رد زﺎﻓ يﺎﻀﻓ يﺎﻫﺮﻴﻐﺘﻣ لﺎﻘﺘﻧا
ﻪﻠﺌﺴﻣ ﺮﺑ ﻢﻛﺎﺣ تﺎﻴﺿﺮﻓ ﻲﻣ ﻲﺳرﺮﺑ ﺪﻌﺑ ﻲﻣ ﻚﻴﺘﺳﻼﭘ ﻼﻣﺎﻛ ترﻮﺻ ﻪﺑ ﻦﻴﻣز ﻲﻣ ﻦﻴﻣز ﻪﺑ ﺎﭘ درﻮﺧﺮﺑ زا ﻪﻈﺤﻟ
ﺎﭘود ي ...
لﺎﻌﻓﺮﻴﻏ ﺖﻛ ﻪﺑ
ﻦﻳا حﺮﺷ
ﻲﻟﺎﺣ رد ﻪﻛ
تﺎﺑر
هار ﻪﻘﻴﻗد ،ﻦﺘﻓر
ﺎﻴﺳرﺎﮔ ﺶﻧارﺎﻜﻤﻫ و2
ود ﻚﻳ لﺎﻌﻓﺮﻴﻏ ﺖﻛﺮﺣ ياﺮﺑ يژﺮﻧا ف رد ﺎﭘ
ﻲﻌﻴﺒﻃ يﺎﻫﺮﻴﺴﻣ ﺪﻣ دراد نﺎﺴﻧا ﻦﺘﻓر
دورو زا ﻞﺒﻗ ﺎﭘود ﻚﻴﻣﺎﻨﻳد ﻪﺑ ﻪﺟﻮﺗ تروﺮﺿ هﺪﺷدﺎﻳ دراﻮﻣ هار لﺪﻣ ﻦﻳﺮﺗ
ﻲﻟﺪﻣ ،هﺪﻧور
ﺖﺳا هﺪﺷ ﻪﺘﻓﺮﮔ ﺮﻈﻧرد ﺖﻴﻌﻗاو ﻪﺑ ﺮﺗ .
زا ﺖﻛﺮﺣ ﻂﺑاور
يزﺎﺠﻣ رﺎﻛ شور ﺮﺑ ﻲﻨﺘﺒﻣ ﻪﻛ ، يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ،يزﺎﺳ ﺮﺛا و هﺪﺷ هداد ﺮﻴﻴﻐﺗ فﺮﺼﻣ ،عﻮﻨﺘﻣ يﺎﻫ
ﺢﻄﺳ رد يﺪﻨﻠﺑ و ﻲﺘﺴﭘ زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ ،يژﺮﻧا صﻮﺼﺨﻣ ﺖﺳا هﺪﺷ ﻲﺳرﺮﺑ ﺖﻛﺮﺣ ﺖﻋﺮﺳ و ﺎﻫﺎﭘ نﺎﺳﻮﻧ راﺪﻘﻣ ،ﺖﻛﺮﺣ و ﻪﺴﻳﺎﻘﻣ ﻦﻴﺸﻴﭘ ﻪﺑﺎﺸﻣ يﺎﻫ
ﺲﭙﺳ
، ﻊﺑﺎﺗ ﻒﻳﺮﻌﺗ ﺎﺑ
ﻢﺘﻳرﻮﮕﻟا ﻚﻤﻛ ﻪﺑ ،ﺖﻛﺮﺣ ﻪﻨﻴﻬﺑ ﻪﻠﺣﺮﻣ ﺪﻨﭼ ﻲﺑﺎﻳ
ﺖﺳا هﺪﺷ ﻪﺋارا ﺎﻬﺘﻧا رد ﻪﻨﻴﻬﺑ لﺪﻣ ﻚﻳ و هﺪﺷ .
ﻳﺎﺘﻧ زا ﻞﺻﺎﺣ ﺞ
ﺖﺳا ﻪﺘﻓﺮﮔ راﺮﻗ هﺪﻧور يرﻮﺌﺗ يﺎﻫدروآﺮﺑ نﺪﺷ ﺮﺗ
ﻪﺴﻳﺎﻘﻣ و ﺎﺑ نآ ﺞﻳﺎﺘﻧ
ﺖﺳا هﺪﺷ مﺎﺠﻧا يدﺪﻋ ﻞﺣ زا رﺎﻈﺘﻧا درﻮﻣ ﺞﻳﺎﺘﻧ .
ﺲﭙﺳ
ﻞﻣﺎﺷ ﻪﻠﺣﺮﻣ ﺞﻨﭘ رد هﺪﺷ
ﺐﻴﺷ ﺎﺑ ﺢﻄﺳ ،ﺎﻨﺒﻣ ﺢﻄﺳ ﺮﺑ ﻪﻴﻟوا لﺪﻣ ﺖﻛﺮﺣ ﻤﻛ
ﺮﻴﻴﻐﺗ ،ﺮﺘ
زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ و ﺎﻫﺎﭘ نزو ،ﻪﻨﺗﻻﺎﺑ نزو يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﻪﺴﻳﺎﻘﻣ زا ﺲﭘ و هﺪﺷ ﺶﻳﺎﻣزآ
نﻮﻣاﺮﻴﭘ ﺞﻳﺎﺘﻧ ﺶﻳﺎﻣزآ داد نﺎﺸﻧ ﺎﻫ
ﺮﺑ درﻮﺧﺮﺑ ﻂﻳاﺮﺷ ﺮﺛا ،يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﺎﺑ ﻪﺴ ﻲﺘﻛﺮﺣ دﺮﻜﻠﻤﻋ ﺪﻧاﻮﺗ
Honda Motors Co Garcia
MSC ADAMS
ﻳ ﺶﻳﺎﻣزآ و ﻚ
هار هﺪﻧور ﺎﭘود
حﺮﻃ يﺎﻳاﺰﻣ ﻪﺻﻼﺧ رﻮﻃ ﺣ
ﺮ لﺎﻌﻓﺮﻴﻏ ﺖﻛ
يژﺮﻧا فﺮﺼﻣ رد ﻲﻳﻮﺟ :
ﻲﻟﺎﺣ رد
،1
ياﺮﺑ 40 هار ﻪﻘﻴﻗد
ﻲﻣ ﻞﻤﺣ دﻮﺧ ﺎﺑ يﺮﺗﺎﺑ مﺮﮔﻮﻠﻴﻛ ﺪﻨﻛ
12]
، [ ﺎﻴﺳرﺎﮔ
ود ﻚﻳ لﺎﻌﻓﺮﻴﻏ ﺖﻛﺮﺣ ياﺮﺑ يژﺮﻧا ف
ﻲﻣ ﻞﻴﻣ ﺮﻔﺻ ﻪﺑ يﺪﺣ ﺖﻟﺎﺣ ﺪﻨﻛ
. 2 ( ﻲﻌﻴﺒﻃ يﺎﻫﺮﻴﺴﻣ ﺪﻣ
هار ﻪﺑ دﺎﻳز ﺖﻫﺎﺒﺷ دراد نﺎﺴﻧا ﻦﺘﻓر
دورو زا ﻞﺒﻗ ﺎﭘود ﻚﻴﻣﺎﻨﻳد ﻪﺑ ﻪﺟﻮﺗ تروﺮﺿ هﺪﺷدﺎﻳ دراﻮﻣ ﺪﻫد
.
هدﺎﺳ شﺮﺘﺴﮔ ﺎﺑ هار لﺪﻣ ﻦﻳﺮﺗ
ﺖﺳا هﺪﺷ ﻪﺘﻓﺮﮔ ﺮﻈﻧرد ﺖﻴﻌﻗاو ﻪﺑ ﺮﺗ يزﺎﺠﻣ رﺎﻛ شور ﺮﺑ ﻲﻨﺘﺒﻣ ﻪﻛ ،
هدﺎﺳ زا ﺲﭘ يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ،يزﺎﺳ
هار لﺪﻣ ﻦﻳﺮﺗ هﺪﻧور
ﺮﺛا و هﺪﺷ هداد ﺮﻴﻴﻐﺗ
ﺐﻴﺷ رد لﺪﻣ ﺖﻛﺮﺣ يراﺪﻳﺎﭘ ﺮﺑ فﺮﺼﻣ ،عﻮﻨﺘﻣ يﺎﻫ
ﺢﻄﺳ رد يﺪﻨﻠﺑ و ﻲﺘﺴﭘ زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ ،يژﺮﻧا صﻮﺼﺨﻣ ﺖﺳا هﺪﺷ ﻲﺳرﺮﺑ ﺖﻛﺮﺣ ﺖﻋﺮﺳ و ﺎﻫﺎﭘ نﺎﺳﻮﻧ راﺪﻘﻣ ،ﺖﻛﺮﺣ
ﻲﺳرﺮﺑ ﺎﺑ ﻪﺴﻳﺎﻘﻣ رد ﻞﺻ و ﻪﺴﻳﺎﻘﻣ ﻦﻴﺸﻴﭘ ﻪﺑﺎﺸﻣ يﺎﻫ
ﺖﺳا هﺪﺷ ﻪﺋارا ﻪﺻﻼﺧ رﻮﻃ .
ﺲﭙﺳ
رﺎﻴﻌﻣ سﺎﺳاﺮﺑ ﺐﺳﺎﻨﻣ شزاﺮﺑ هدزﺎﺑ
ﻢﺘﻳرﻮﮕﻟا ﻚﻤﻛ ﻪﺑ ،ﺖﻛﺮﺣ
رد لﺪﻣ يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﻚﻴﺘﻧژ ﻪﻨﻴﻬﺑ ﻪﻠﺣﺮﻣ ﺪﻨﭼ
ﺖﺳا هﺪﺷ ﻪﺋارا ﺎﻬﺘﻧا رد ﻪﻨﻴﻬﺑ لﺪﻣ ﻚﻳ و هﺪﺷ هار ﻲﻠﻤﻋ لﺪﻣ ﺖﺧﺎﺳ يﺎﻨﺒﻣ ﻲﺑﺎﻳ ﺖﺳا ﻪﺘﻓﺮﮔ راﺮﻗ هﺪﻧور
ﻚﻳدﺰﻧ فﺪﻫ ﺎﺑ ،لﺪﻣ ﺖﺧﺎﺳ زا ﺶﻴﭘ يرﻮﺌﺗ يﺎﻫدروآﺮﺑ نﺪﺷ ﺮﺗ
ﺰﻣادآ راﺰﻓا ﻪﺴﻳﺎﻘﻣ و 3
ﺖﺳا هﺪﺷ مﺎﺠﻧا يدﺪﻋ ﻞﺣ زا رﺎﻈﺘﻧا درﻮﻣ ﺞﻳﺎﺘﻧ ﻪﺘﺧﺎﺳ
ﻞﻣﺎﺷ ﻪﻠﺣﺮﻣ ﺞﻨﭘ رد هﺪﺷ
ﺐﻴﺷ ﺎﺑ ﺢﻄﺳ ،ﺎﻨﺒﻣ ﺢﻄﺳ ﺮﺑ ﻪﻴﻟوا لﺪﻣ ﺖﻛﺮﺣ زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ و ﺎﻫﺎﭘ نزو ،ﻪﻨﺗﻻﺎﺑ نزو يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ
ﻪﺴﻳﺎﻘﻣ زا ﺲﭘ و هﺪﺷ ﺶﻳﺎﻣزآ ﺖﺳا هﺪﺷ ﺚﺤﺑ .
ﺶﻳﺎﻣزآ
ﺮﺑ درﻮﺧﺮﺑ ﻂﻳاﺮﺷ ﺮﺛا ،يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﺎﺑ ﻪﺴ ﻲﻣ و ﺖﺳا ﺮﺗدﺎﻳز رﺎﻴﺴﺑ لﺪﻣ يراﺪﻳﺎﭘ ﻲﺘﻛﺮﺣ دﺮﻜﻠﻤﻋ ﺪﻧاﻮﺗ
Honda Motors Co
ﺖﺧﺎﺳ ﻳ ﺶﻳﺎﻣزآ و
حﺮﻃ يﺎﻳاﺰﻣ ﻪﺻﻼﺧ رﻮﻃ
ﻪﻓﺮﺻ يژﺮﻧا فﺮﺼﻣ رد ﻲﻳﻮﺟ
ﺖﻛﺮﺷ ﺎﻤﻧ اﺪﻧﻮﻫ
- رﻮﺗﻮﻣ
1
ﻲﻣ ﻞﻤﺣ دﻮﺧ ﺎﺑ يﺮﺗﺎﺑ مﺮﮔﻮﻠﻴﻛ ﺮﺼﻣ ﻪﻛ ﺪﻧداد نﺎﺸﻧ ود ﻚﻳ لﺎﻌﻓﺮﻴﻏ ﺖﻛﺮﺣ ياﺮﺑ يژﺮﻧا ف
ﻲﻣ ﻞﻴﻣ ﺮﻔﺻ ﻪﺑ يﺪﺣ ﺖﻟﺎﺣ لﺎﻌﻓﺮﻴﻏ ترﻮﺻ ﻪﺑ ﺖﻛﺮﺣ هار ﻪﺑ دﺎﻳز ﺖﻫﺎﺒﺷ
دورو زا ﻞﺒﻗ ﺎﭘود ﻚﻴﻣﺎﻨﻳد ﻪﺑ ﻪﺟﻮﺗ تروﺮﺿ هﺪﺷدﺎﻳ دراﻮﻣ ﻲﻣ نﺎﺸﻧ ار لﺮﺘﻨﻛ ﺪﻫد
ﻖﻴﻘﺤﺗ ﻦﻳا رد
، هدﺎﺳ شﺮﺘﺴﮔ ﺎﺑ
ﺖﺳا هﺪﺷ ﻪﺘﻓﺮﮔ ﺮﻈﻧرد ﺖﻴﻌﻗاو ﻪﺑ ﺮﺗ ) (TMT 13] يزﺎﺠﻣ رﺎﻛ شور ﺮﺑ ﻲﻨﺘﺒﻣ ﻪﻛ ،[
و هﺪﺷ جاﺮﺨﺘﺳا ،ﺖﺳا هدﺎﺳ زا ﺲﭘ
هدﺎﺳ ندادراﺮﻗ ﺎﻨﺒﻣ ﺎﺑ هار لﺪﻣ ﻦﻳﺮﺗ
ﺐﻴﺷ رد لﺪﻣ ﺖﻛﺮﺣ يراﺪﻳﺎﭘ ﺮﺑ ﺢﻄﺳ رد يﺪﻨﻠﺑ و ﻲﺘﺴﭘ زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ ،يژﺮﻧا صﻮﺼﺨﻣ
ﺖﺳا هﺪﺷ ﻲﺳرﺮﺑ ﺖﻛﺮﺣ ﺖﻋﺮﺳ و ﺎﻫﺎﭘ نﺎﺳﻮﻧ راﺪﻘﻣ ،ﺖﻛﺮﺣ ﻲﺳرﺮﺑ ﺎﺑ ﻪﺴﻳﺎﻘﻣ رد ﻞﺻ ﺖﺳا هﺪﺷ ﻪﺋارا ﻪﺻﻼﺧ رﻮﻃ
رﺎﻴﻌﻣ سﺎﺳاﺮﺑ ﺐﺳﺎﻨﻣ شزاﺮﺑ رد لﺪﻣ يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﻚﻴﺘﻧژ ﺖﺳا هﺪﺷ ﻪﺋارا ﺎﻬﺘﻧا رد ﻪﻨﻴﻬﺑ لﺪﻣ ﻚﻳ و هﺪﺷ
هار ﻲﻠﻤﻋ لﺪﻣ ﺖﺧﺎﺳ يﺎﻨﺒﻣ ﻲﺑﺎﻳ ﻚﻳدﺰﻧ فﺪﻫ ﺎﺑ ،لﺪﻣ ﺖﺧﺎﺳ زا ﺶﻴﭘ
ﻪﻴﺒﺷ ،ﺖﻴﻌﻗاو ﻪﺑ مﺮﻧ رد يزﺎﺳ
ﺰﻣادآ راﺰﻓا
ﺖﺳا هﺪﺷ مﺎﺠﻧا يدﺪﻋ ﻞﺣ زا رﺎﻈﺘﻧا درﻮﻣ ﺞﻳﺎﺘﻧ لﺪﻣ يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﻪﺘﺧﺎﺳ
ﺐﻴﺷ ﺎﺑ ﺢﻄﺳ ،ﺎﻨﺒﻣ ﺢﻄﺳ ﺮﺑ ﻪﻴﻟوا لﺪﻣ ﺖﻛﺮﺣ زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ و ﺎﻫﺎﭘ نزو ،ﻪﻨﺗﻻﺎﺑ نزو يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ يﺪﻨﻠﺑ ﺎﻳ ﻲﺘﺴﭘ ﻪﺴﻳﺎﻘﻣ زا ﺲﭘ و هﺪﺷ ﺶﻳﺎﻣزآ
نآ ضرﺎﻌﺗ و ﻲﻧاﻮﺧ ﺎﻫ
ﺖﺳا هﺪﺷ ﺚﺤﺑ
ﺮﺑ درﻮﺧﺮﺑ ﻂﻳاﺮﺷ ﺮﺛا ،يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﺎﺑ ﻪﺴ ﻲﻣ و ﺖﺳا ﺮﺗدﺎﻳز رﺎﻴﺴﺑ لﺪﻣ يراﺪﻳﺎﭘ
ﺣاﺮﻃ
،ﻪﻨﻴﻬﺑ ﻲ ﺖﺧﺎﺳ
54
ﺑ ﻪ حﺮﻃ يﺎﻳاﺰﻣ ﻪﺻﻼﺧ رﻮﻃ
ﺖﺳا : 1 ( ﻪﻓﺮﺻ
نﺎﺴﻧا ﺖﻛﺮﺷ ﺎﻤﻧ ﻲﻣ ﻞﻤﺣ دﻮﺧ ﺎﺑ يﺮﺗﺎﺑ مﺮﮔﻮﻠﻴﻛ
ﺮﺼﻣ ﻪﻛ ﺪﻧداد نﺎﺸﻧ ﻲﻣ ﻞﻴﻣ ﺮﻔﺻ ﻪﺑ يﺪﺣ ﺖﻟﺎﺣ لﺎﻌﻓﺮﻴﻏ ترﻮﺻ ﻪﺑ ﺖﻛﺮﺣ دورو زا ﻞﺒﻗ ﺎﭘود ﻚﻴﻣﺎﻨﻳد ﻪﺑ ﻪﺟﻮﺗ تروﺮﺿ هﺪﺷدﺎﻳ دراﻮﻣ
ﻪﻠﺣﺮﻣ ﻪﺑ ﻲﻣ نﺎﺸﻧ ار لﺮﺘﻨﻛ
ﻖﻴﻘﺤﺗ ﻦﻳا رد ﻚﻳدﺰﻧ ﺖﺳا هﺪﺷ ﻪﺘﻓﺮﮔ ﺮﻈﻧرد ﺖﻴﻌﻗاو ﻪﺑ ﺮﺗ
شور ﻲﺒﻴﻛﺮﺗ )
و هﺪﺷ جاﺮﺨﺘﺳا ،ﺖﺳا هدﺎﺳ ندادراﺮﻗ ﺎﻨﺒﻣ ﺎﺑ نآ ﺎﻫ ﺐﻴﺷ رد لﺪﻣ ﺖﻛﺮﺣ يراﺪﻳﺎﭘ ﺮﺑ ﺢﻄﺳ رد يﺪﻨﻠﺑ و ﻲﺘﺴﭘ زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ ،يژﺮﻧا صﻮﺼﺨﻣ
ﺖﺳا هﺪﺷ ﻲﺳرﺮﺑ ﺖﻛﺮﺣ ﺖﻋﺮﺳ و ﺎﻫﺎﭘ نﺎﺳﻮﻧ راﺪﻘﻣ ،ﺖﻛﺮﺣ ﺎﺣ ﺞﻳﺎﺘﻧ ﻲﺳرﺮﺑ ﺎﺑ ﻪﺴﻳﺎﻘﻣ رد ﻞﺻ
ﺑ ﻲﻟوﺪﺟ رد ﻪ
ﺖﺳا هﺪﺷ ﻪﺋارا ﻪﺻﻼﺧ رﻮﻃ
رﺎﻴﻌﻣ سﺎﺳاﺮﺑ ﺐﺳﺎﻨﻣ شزاﺮﺑ رد لﺪﻣ يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﻚﻴﺘﻧژ ﺖﺳا هﺪﺷ ﻪﺋارا ﺎﻬﺘﻧا رد ﻪﻨﻴﻬﺑ لﺪﻣ ﻚﻳ و هﺪﺷ ﻪﻨﻴﻬﺑ هار ﻲﻠﻤﻋ لﺪﻣ ﺖﺧﺎﺳ يﺎﻨﺒﻣ ﻲﺑﺎﻳ
ﻚﻳدﺰﻧ فﺪﻫ ﺎﺑ ،لﺪﻣ ﺖﺧﺎﺳ زا ﺶﻴﭘ ﻪﻴﺒﺷ ،ﺖﻴﻌﻗاو ﻪﺑ ﺖﺳا هﺪﺷ مﺎﺠﻧا يدﺪﻋ ﻞﺣ زا رﺎﻈﺘﻧا درﻮﻣ ﺞﻳﺎﺘﻧ لﺪﻣ يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﺐﻴﺷ ﺎﺑ ﺢﻄﺳ ،ﺎﻨﺒﻣ ﺢﻄﺳ ﺮﺑ ﻪﻴﻟوا لﺪﻣ ﺖﻛﺮﺣ زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ و ﺎﻫﺎﭘ نزو ،ﻪﻨﺗﻻﺎﺑ نزو يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ يﺪﻨﻠﺑ ﺎﻳ ﻲﺘﺴﭘ ﻢﻫ نآ ضرﺎﻌﺗ و ﻲﻧاﻮﺧ
ﻳﺎﻘﻣ رد ﺮﺑ درﻮﺧﺮﺑ ﻂﻳاﺮﺷ ﺮﺛا ،يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﺎﺑ ﻪﺴ
ﻲﻣ و ﺖﺳا ﺮﺗدﺎﻳز رﺎﻴﺴﺑ لﺪﻣ يراﺪﻳﺎﭘ
54 ﺖﺳا نﺎﺴﻧا ﻲﻣ ﻞﻤﺣ دﻮﺧ ﺎﺑ يﺮﺗﺎﺑ مﺮﮔﻮﻠﻴﻛ ﺮﺼﻣ ﻪﻛ ﺪﻧداد نﺎﺸﻧ ﻲﻣ ﻞﻴﻣ ﺮﻔﺻ ﻪﺑ يﺪﺣ ﺖﻟﺎﺣ لﺎﻌﻓﺮﻴﻏ ترﻮﺻ ﻪﺑ ﺖﻛﺮﺣ ﻪﻠﺣﺮﻣ ﻪﺑ ﻚﻳدﺰﻧ شور و هﺪﺷ جاﺮﺨﺘﺳا ،ﺖﺳا هدﺎﺳ ندادراﺮﻗ ﺎﻨﺒﻣ ﺎﺑ نآ ﺢﻄﺳ رد يﺪﻨﻠﺑ و ﻲﺘﺴﭘ زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ ،يژﺮﻧا صﻮﺼﺨﻣ ﺖﺳا هﺪﺷ ﻲﺳرﺮﺑ ﺖﻛﺮﺣ ﺖﻋﺮﺳ و ﺎﻫﺎﭘ نﺎﺳﻮﻧ راﺪﻘﻣ ،ﺖﻛﺮﺣ ﺎﺣ ﺞﻳﺎﺘﻧ ﺑ ﻲﻟوﺪﺟ رد رﺎﻴﻌﻣ سﺎﺳاﺮﺑ ﺐﺳﺎﻨﻣ شزاﺮﺑ رد لﺪﻣ يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﻚﻴﺘﻧژ ﺖﺳا هﺪﺷ ﻪﺋارا ﺎﻬﺘﻧا رد ﻪﻨﻴﻬﺑ لﺪﻣ ﻚﻳ و هﺪﺷ ﻪﻨﻴﻬﺑ ﻚﻳدﺰﻧ فﺪﻫ ﺎﺑ ،لﺪﻣ ﺖﺧﺎﺳ زا ﺶﻴﭘ ﻪﻴﺒﺷ ،ﺖﻴﻌﻗاو ﻪﺑ ﺖﺳا هﺪﺷ مﺎﺠﻧا يدﺪﻋ ﻞﺣ زا رﺎﻈﺘﻧا درﻮﻣ ﺞﻳﺎﺘﻧ لﺪﻣ يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ ﺐﻴﺷ ﺎﺑ ﺢﻄﺳ ،ﺎﻨﺒﻣ ﺢﻄﺳ ﺮﺑ ﻪﻴﻟوا لﺪﻣ ﺖﻛﺮﺣ زا رﻮﺒﻋ ﻲﻳﺎﻧاﻮﺗ و ﺎﻫﺎﭘ نزو ،ﻪﻨﺗﻻﺎﺑ نزو يرﺎﺘﺧﺎﺳ يﺎﻫﺮﺘﻣارﺎﭘ يﺪﻨﻠﺑ ﺎﻳ ﻲﺘﺴﭘ ﻢﻫ ﻳﺎﻘﻣ رد ﻲﻣ و ﺖﺳا ﺮﺗدﺎﻳز رﺎﻴﺴﺑ لﺪﻣ يراﺪﻳﺎﭘ
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