prikaz prve stranice dokumenta Dinamika SCARA manipulatora
  Download
PDF 1.39 MB
undergraduate thesis
Dinamika SCARA manipulatora
2023. urn:nbn:hr:235:886689
Biloš, Mateo
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Cite this document

Biloš, M. (2023). Dinamika SCARA manipulatora (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:886689

Biloš, Mateo. "Dinamika SCARA manipulatora." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:886689

Biloš, Mateo. "Dinamika SCARA manipulatora." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:886689

Biloš, M. (2023). 'Dinamika SCARA manipulatora', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 09 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:886689

Biloš M. Dinamika SCARA manipulatora [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2023 [cited 2024 November 09] Available at: https://urn.nsk.hr/urn:nbn:hr:235:886689

M. Biloš, "Dinamika SCARA manipulatora", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:886689

Please login to the repository to save this object to your list.
Metadata
TitleDinamika SCARA manipulatora
Title (english)SCARA manipulator dynamics
AuthorMateo Biloš
MentorMarko Jokić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-03-02, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Svrha ovog završnog rada je izvod matematičkog modela dinamičkog ponašanja SCARA manipulatora te njegova implementacija u vidu računalnog programa. Osim dinamike potrebno je opisati i kinematiku manipulatora. Prvenstveno je opisan sami manipulator SCARA, nakon toga riješen je direktan problem kinematike za manipulator korištenjem matrica homogenih transformacija. Nakon toga izvedene su jednadžbe gibanja, odnosno riješen problem direktne dinamike manipulatora pomoću Euler-Langrange metode. Sama dinamika zapisana je matrično, te je za nju zapisan najjednostavniji zapis u svrhu što manjeg broja matematičkih operacija.
Abstract (english)
The purpose of this final paper is the derivation of a mathematical model of the dynamic behavior of the SCARA manipulator and its implementation in the form of a computer program. In addition to the dynamics, it is also necessary to describe the kinematics of the manipulator. First of all, the SCARA manipulator itself is described, after which the direct problem of kinematics for the manipulator is solved using matrices of homogeneous transformations. After that, the equations of motion were derived, that is, the problem of the direct dynamics of the manipulator was solved using the Euler-Langrange method. The dynamics itself is written in a matrix in simplest notation for it in order to reduce the number of mathematical operations.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:886689
Study programmeTitle: 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 resourceOther
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2023-02-23 08:07:48