Dynamic Behaviour Comparison of Three Different Mathematical Model Complexities
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Dynamic Behaviour Comparison of Three Different Mathematical Model Complexities
Popis výsledku v původním jazyce
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'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'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.
Název v anglickém jazyce
Dynamic Behaviour Comparison of Three Different Mathematical Model Complexities
Popis výsledku anglicky
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'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'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.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
—
OECD FORD obor
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Návaznosti výsledku
Projekt
—
Návaznosti
S - Specificky vyzkum na vysokych skolach
Ostatní
Rok uplatnění
2017
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
Annals of DAAAM International 2017, Volume 28
ISBN
978-3-902734-14-3
ISSN
2304-1382
e-ISSN
neuvedeno
Počet stran výsledku
9
Strana od-do
685-693
Název nakladatele
DAAAM International Vienna
Místo vydání
Vienna
Místo konání akce
Zadar
Datum konání akce
8. 11. 2017
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
—