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undergraduate thesis
KINEMATIČKA ANALIZA OTVORENOG MEHANIZMA RRRR STRUKTURE
Slavonski Brod: Josip Juraj Strossmayer University of Osijek, Mechanical Engineering Faculty in Slavonski Brod, 2017. urn:nbn:hr:153:476127
Raguž, Ivan
Josip Juraj Strossmayer University of Osijek
Mechanical Engineering Faculty in Slavonski Brod

Institutional repository: Repository of Mechanical Engineering in Slavonski Brod

Cite this document

Raguž, I. (2017). KINEMATIČKA ANALIZA OTVORENOG MEHANIZMA RRRR STRUKTURE (Undergraduate thesis). Slavonski Brod: Josip Juraj Strossmayer University of Osijek, Mechanical Engineering Faculty in Slavonski Brod. Retrieved from https://urn.nsk.hr/urn:nbn:hr:153:476127

Raguž, Ivan. "KINEMATIČKA ANALIZA OTVORENOG MEHANIZMA RRRR STRUKTURE." Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Mechanical Engineering Faculty in Slavonski Brod, 2017. https://urn.nsk.hr/urn:nbn:hr:153:476127

Raguž, Ivan. "KINEMATIČKA ANALIZA OTVORENOG MEHANIZMA RRRR STRUKTURE." Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Mechanical Engineering Faculty in Slavonski Brod, 2017. https://urn.nsk.hr/urn:nbn:hr:153:476127

Raguž, I. (2017). 'KINEMATIČKA ANALIZA OTVORENOG MEHANIZMA RRRR STRUKTURE', Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Mechanical Engineering Faculty in Slavonski Brod, accessed 29 December 2024, https://urn.nsk.hr/urn:nbn:hr:153:476127

Raguž I. KINEMATIČKA ANALIZA OTVORENOG MEHANIZMA RRRR STRUKTURE [Undergraduate thesis]. Slavonski Brod: Josip Juraj Strossmayer University of Osijek, Mechanical Engineering Faculty in Slavonski Brod; 2017 [cited 2024 December 29] Available at: https://urn.nsk.hr/urn:nbn:hr:153:476127

I. Raguž, "KINEMATIČKA ANALIZA OTVORENOG MEHANIZMA RRRR STRUKTURE", Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Mechanical Engineering Faculty in Slavonski Brod, Slavonski Brod, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:153:476127

Metadata
TitleKINEMATIČKA ANALIZA OTVORENOG MEHANIZMA RRRR STRUKTURE
Title (english)KINEMATIC ANALYSIS OF OPEN MECHANISM WITH RRRR STRUCTURE
AuthorIvan Raguž
MentorTodor Ergić (mentor)
Committee memberTodor Ergić (član povjerenstva)
Committee memberDarko Damjanović (član povjerenstva)
Committee memberMiroslav Duspara (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Mechanical Engineering Faculty in Slavonski Brod
Slavonski Brod
Defense date and country2017-09-22, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Radom je rješena kinematička analiza otvorenog mehanizma RRRR strukture. Zadani RRRR kinematički lanac predstavlja kinematičku strukturu robota odnosno manipulatora, koja je opisana i matematički predočena Denavit-Hartenbergovim matricama homogene transformacije. Pomoću spomenutih matrica je ostvaren proračun inverzne kinematike. Nadalje razrađen je postupak vođenja prihvatnice s obzirom na promjenjive parametre gibanja. Načinjeni postupak je oblikovan u obliku algoritma kojim je omogućeno upravljanje manipulatora u vidu vođenja prihvatnice iz jednu točke u drugu interpolacijskim gibanjem po pravcu. Analizom rezultata je ustanovljeno da načinjeni algoritam u MATLAB-u za upravljanje uistinu rješava zadatak kojemu je namijenjen. To je vidljivo na dijagramima koji opisuju stvarno gibanje prihvatnice robota.
Abstract (english)
In this paper is solved the kinematic analysis of the open mechanism of the RRRR structure. The predetermined RRRR kinematic chain represents the kinematic structure of the robot or manipulator, which is described and mathematically represented by the Denavit-Hartenberg homogeneous transformation matrices. Using the above mentioned matrices, the inverse kinematics calculation was performed. Furthermore, a process for driving gripper is worked out with respect to the changeable parameters. The process is shaped in the form of an algorithm, with which the control of the manipulator is enabled in the way of driving the gripper from one point to another with interpolated motion on a line. By analysing the results, it has been established that a managed algorithm in MATLAB really solves the task for which it is intended. It is visible on the diagrams, which describes real motion of the robot gripper.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:153:476127
Study programmeTitle: Undergraduate Study in Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to students and staff of home institution
Terms of useLicence In copyright icon
Created on2017-09-27 10:29:28