Analiza i vrednovanje Stewartovih paralelnih mehanizama

scientific master's theses

• Title (english): The Evaluation And Analysis Of Stewart Parallel Mechanisms
• Author: Leonardo Jelenković
• Mentor: Leo Budin (mentor)
• Committee member: Leo Budin (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Electronics, Microelectronics, Computer and Intelligent Systems); Zagreb
• Defense date and country: 2001, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Universal decimal classification (UDC): 004 - Computer science and technology. Computing. Data processing

Abstract

Rad počinje opisom razloga razmatranja paralelnih struktura temeljenih na Stewartovoj platformi te prikazuje nekoliko postojećih prototipova takvih strojeva. Opis i definicija strukture prikazani su za oba temeljna modela: model sa upravljivom duljinom krakova i model sa konstantnom duljinom krakova. Definiran je pojam radnog prostora te ograničenja paralelne strukture koja moraju biti zadovoljena za svaku njegovu točku kao i algoritam njegova određivanja. Razmatran je utjecaj greaka i tolerancija pojedinih elemenata strukture na ukupna odstupanja te je izveden postupak njihova proračuna. Kinematska svojstva heksapoda definirana su koristeći odnos brzine pokretnog dijela manipulatora prema brzini promjena duljina krakova. Iterativnim računskim postupcima određeni su parametri struktura koji optimiraju pojedine kriterije: veličinu radnog prostora, utjecaj tolerancija i kinematska svojstva ili kombinaciju sviju sa različitim teinama.

Abstract (english)

This work describes reasons for consideration of parallel manipulators based on Stewart platfom over serial-link manipulators. A few Stewart platform manipulator prototypes with their characteristics are shown. Formal definitions of hexapod structure for both basic models: model with variabile strut lenghts and model with fixed strut lenghts are presented. Hexapod workspace is defined and restrictions which must be satisfied in its points are elaborated. Using those restrictions, an algorithm for workspace calculation is shown. Relation between errors and tolerances in model components and end-effector position and orientation is deduced. Characteristics kinematic values are defined using relationship between hexapod strut rates and end-effector speed. Models that optimize workspace area, minimize errors, give best kinematics or combine previous criteria are calculated with iterative methods.

• Keywords: Paralelni manipulator; Stewartova platforma; heksapod; radni prostor; greke; tolerancije; kinematika; numeričko optimiranje
• Keywords (english): Parallel manipulator; Stewart platform; hexapod; workspace; errors; tolerances; kinematics; numerical optimization
• Language: croatian
• URN:NBN: urn:nbn:hr:168:566718
• Study programme: Title: Postgraduate master programe in computing; Study programme type: university; Study level: postgraduate; Academic / professional title: magistar inženjer računarstva (magistar inženjer računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-04-23 08:53:01