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Wyszukujesz frazę "multi DOF" wg kryterium: Temat


Wyświetlanie 1-2 z 2
Tytuł:
New Analytical Model of Spur Gears with 5 DOF Shafts and its Comparison with Other DOF Models
Autorzy:
Jedliński, Łukasz
Powiązania:
https://bibliotekanauki.pl/articles/2024180.pdf
Data publikacji:
2021
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
dynamic meshing forces
5 DOF shafts
analytical gear model
multi-DOF
gear model comparison
Simulink equations
dynamiczna siła zazębienia
wały 5 DOF
analityczny model przekładni
multi DOF
porównanie modeli przekładni
równania Simulink
Opis:
This study relates to the research on improving analytical models of gears. A new analytical model of gear shaft with 5 DOF was proposed. Equations of vibration were derived without small-angle approximation and were presented in a form that could be implemented in Simulink. In order to determine the effect of the additional DOF, four popular models having 2 DOF, 4 DOF, 6 DOF and 8 DOF were investigated, too. The proposed model has 12 DOF in total. This number of DOF could be increased; this, however, would result in a greater difference between the considered models, thus making it more difficult to evaluate the impact of the additional DOF of shafts. As a benchmark, the dynamic meshing force in the considered analytical models was calculated. Simulations were carried out with and without friction. Additionally, for the 12 DOF model, the effects of the position of the centre of gear and the centre of mass were investigated.
Źródło:
Advances in Science and Technology. Research Journal; 2021, 15, 1; 79-91
2299-8624
Pojawia się w:
Advances in Science and Technology. Research Journal
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Reference trajectory tracking for a multi-DOF robot arm
Autorzy:
Krasňanský, R.
Valach, P.
Soós, D.
Zarbakhsh, J.
Powiązania:
https://bibliotekanauki.pl/articles/229537.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
inverse kinematics
real-time reference tracking
signal generator
multi-DOF
dynamic data exchange
Opis:
This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.
Źródło:
Archives of Control Sciences; 2015, 25, 4; 513-527
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
    Wyświetlanie 1-2 z 2

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