Ocjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama

scientific master's theses

• Title (english): The Evaluation of Problem Solving Methods for Stewart Parallel Mechanism Kinematics
• Author: Domagoj Jakobović
• Mentor: Leo Budin (mentor)
• Committee member: Slobodan Ribarić (predsjednik povjerenstva)
• Committee member: Leo Budin (član povjerenstva)
• Committee member: Toma Udiljak (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: 2001-12-07, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Universal decimal classification (UDC): 004 - Computer science and technology. Computing. Data processing ; 621.3 - Electrical engineering

Abstract

U radu su izloženi postupci rješavanja problema unaprijedne kinematike Stewartovih paralelnih mehanizama. Opisane su osnovne inačice Stewartove platforme (heksapoda) i njihova uporaba. Odabrana je standardizirana izvedba mehanizma poradi jednoznačne ocjene učinkovitosti ispitivanih postupaka. Definirano je pet matematičkih opisa zadanoga problema. Svaki je pristup detaljno analiziran i određena su njegova najvažnija svojstva. Opisano je nekoliko načina rješavanja problema unaprijedne kinematike te je posebna pažnja posvećena konvergentnim postupcima optimiranja koji omogućuju rad u stvarnom vremenu. Predloženo je nekoliko novih načina poboljšanja rada algoritama optimiranja primijenjenih na zadani problem. Opisani postupci rješavanja iscrpno su ispitani u statičkim i dinamičkim uvjetima rada. Uočen je problem ekvivalentnih gibanja heksapoda uzrokovan postojanjem više rješenja unaprijedne kinematike. Predložene su prilagodbe postupaka rješavanja u cilju izbjegavanja praćenja ekvivalentnih gibanja. Rezultati upućuju na korisnost predloženih postupaka i mogućnost uporabe u većini praktičnih primjena.

Abstract (english)

In this work the problem solving methods for Stewart parallel mechanisms forward displacement analysis are presented. The most usual variants of Stewart platform mechanism (hexapod) and their applications are described. The standard model is defined in order to uniformly evaluate the effectiveness of presented methods. Five mathematical formulations of the problem are given. Each one is thoroughly investigated and its main features are recognized. Several approaches to solving forward kinematics are described. The iterative methods, which can be used in real-time applications, are presented in detail. A few new ways to improve the algorithms’ efficiency are proposed. The described problem solving procedures are thoroughly investigated and tested in both static and dynamic environment. The appearance of equivalent trajectories, caused by the existence of more than one solution to the problem, is discovered. Heuristic modifications are proposed in order to overcome the tracking of equivalent trajectories. The results point out to the possible use of described methods in the majority of realworld applications.

• Keywords: Stewartova platforma (heksapod); unaprijedna kinematika; iterativni postupci; rad u stvarnom vremenu
• Keywords (english): Stewart platform mechanism (hexapod); forward displacement analysis; iterative methods; real-time application
• Language: croatian
• URN:NBN: urn:nbn:hr:168:623077
• 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 09:26:07