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Journal of Applied Engineering Science
2013, vol. 11, br. 4, str. 191-200
Metodologija za razvoj kinematičkog modela odabranog CPR-a sistema kao neophodnost za razvoj dinamičkog modela
Filipović Mirjanaa, Đurić Anab, Kevac Ljubinkoc
aUniverzitet u Beogradu, Institut 'Mihajlo Pupin'
bWayne State University, Detroit, USA
cUniverzitet u Beogradu, Elektrotehnički fakultet

e-adresa: mira@robot.imp.bg.ac.rs
Projekat:
Istraživanje i razvoj ambijentalno inteligentnih servisnih robota antropomorfnih karakteristika (MPNTR - 35003)
Dinamika hibridnih sistema složenih struktura. Mehanika materijala (MPNTR - 174001)

Ključne reči: dinamika; kinematika; modeliranje; radni prostor; observacija; kablovski vođen paralelni robot
Sažetak
Definisan je autentičan oblik generalne forme matematičkog modela Cable Suspended Parallel Robot tipa A, CPR-A sistema. Smisao definisanja kinematičkog modela koji uključuje trajektoriju, brzinu i ubrzanje je pretpostavka za formulaciju dinamičkog modela. Te tri komponente predstavljaju osnovni funkcionalni kriterijum realnog sistema koji je opisan sa odgovarajućim geometrijskim vezama i diferencijalnim jednačinama. Kinematički model CPR-A sistema je definisan preko Jakobijeve matrice. Adekvatan izbor generalisanih koordinata (u ovom radu unutrašnjih koordinata) obezbeđuje matematički model koji osvetljava preslikavanje unutrašnjih (rezultujućih sila u užadima) i spoljašnjih sila (koje deluju na nosač kamere) preko Jakobijeve matrice na dinamiku kretanja svakog motora. Softverski paket AIRCAMA je razvijen i korišćen za individualnu i komparativnu analizu CPR-A sistema sa različitih aspekata. Smisao promene nekih parametara (dimenzije radnog prostora, mase nosača kamere, promena veličine i dinamike poremećajne sile, izbor upravljačkog zakona, referentne trajektorije i izbegavanja prisutnog singulariteta sistema kao i drugih karakteristika) mogu biti analizirane preko ovog softverskog paketa. Različiti primeti kretanja CPR-A sistema su analizirani i njihovi rezultati su predstavljeni. Mogućnost primene CPR-A sistema je zaista mnogo šira nego što to može i da se pretpostavi u ovom momentu, posebno za sportske, kulturne, vojne i policijske svrhe.
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O članku

jezik rada: engleski
vrsta rada: izvorni naučni članak
DOI: 10.5937/jaes11-4581
objavljen u SCIndeksu: 23.12.2013.
metod recenzije: dvostruko anoniman
Creative Commons License 4.0

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