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scientific master's theses
Analiza i vrednovanje Stewartovih paralelnih mehanizama
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2001. urn:nbn:hr:168:566718
Jelenković, Leonardo
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Electronics, Microelectronics, Computer and Intelligent Systems

Institutional repository: FER Repository

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Jelenković, L. (2001). Analiza i vrednovanje Stewartovih paralelnih mehanizama (Scientific master's theses). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:566718

Jelenković, Leonardo. "Analiza i vrednovanje Stewartovih paralelnih mehanizama." Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, 2001. https://urn.nsk.hr/urn:nbn:hr:168:566718

Jelenković, Leonardo. "Analiza i vrednovanje Stewartovih paralelnih mehanizama." Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, 2001. https://urn.nsk.hr/urn:nbn:hr:168:566718

Jelenković, L. (2001). 'Analiza i vrednovanje Stewartovih paralelnih mehanizama', Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:566718

Jelenković L. Analiza i vrednovanje Stewartovih paralelnih mehanizama [Scientific master's theses]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2001 [cited 2024 December 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:566718

L. Jelenković, "Analiza i vrednovanje Stewartovih paralelnih mehanizama", Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2001. Available at: https://urn.nsk.hr/urn:nbn:hr:168:566718

Metadata
TitleAnaliza i vrednovanje Stewartovih paralelnih mehanizama
Title (english)The Evaluation And Analysis Of Stewart Parallel Mechanisms
AuthorLeonardo Jelenković
MentorLeo Budin (mentor)
Committee memberLeo Budin (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Electronics, Microelectronics, Computer and Intelligent Systems)
Zagreb
Defense date and country2001, 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
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:566718
Study programmeTitle: Postgraduate master programe in computing
Study programme type: university
Study level: postgraduate
Academic / professional title: magistar inženjer računarstva (magistar inženjer računarstva)
Type of resourceText
File originBorn digital
Access conditionsClosed access
Terms of useLicence In copyright icon
Created on2019-04-23 08:53:01