Dynamic Behaviour Comparison of Three Different Mathematical Model Complexities

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F70883521%3A28140%2F17%3A63516845" target="_blank" >RIV/70883521:28140/17:63516845 - isvavai.cz</a>

Result on the web

<a href="http://www.daaam.info/Downloads/Pdfs/proceedings/proceedings_2017/096.pdf" target="_blank" >http://www.daaam.info/Downloads/Pdfs/proceedings/proceedings_2017/096.pdf</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.2507/28th.daaam.proceedings.096" target="_blank" >10.2507/28th.daaam.proceedings.096</a>

Result language

angličtina

Original language name

Dynamic Behaviour Comparison of Three Different Mathematical Model Complexities

Original language description

This article presents a dynamic behaviour comparison of a three different mathematical descriptions complexity for the first 3 joints of 6 degrees of freedom robotic structure. First, the 3D CAD model is designed in SolidWorks, which is used as a basis for a physical and mathematical model. The CAD model is exported directly from SolidWorks to SimMechanics as a physical model and is considered as a most accurate replacement for the real model in this work. The first type of mathematical model is the most precise but also the most complex; it is based on SolidWorks inertia matrices and the matrix form of Lagrange&apos;s motion equations of the second kind. The second type of mathematical model is created by replacing each part with a suitable simplified shape; it using a classical integration approach with Lagrange&apos;s motion equations of the second kind. The third type of mathematical model is based on the same approach as the second type, but all objects are replaced by mass points. At the end, all the results of dynamic behaviour are compared to the physical model, for use in controller design.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

—

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Annals of DAAAM International 2017, Volume 28

ISBN

978-3-902734-14-3

ISSN

2304-1382

e-ISSN

neuvedeno

Number of pages

9

Pages from-to

685-693

Publisher name

DAAAM International Vienna

Place of publication

Vienna

Event location

Zadar

Event date

Nov 8, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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