diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo - Projektno aplikativni program
David Lojk (Author), Boris Jerman (Mentor), Franc Majdič (Co-mentor)

Abstract

To diplomsko delo obravnava analizo obremenitev prototipne Stewartove ploščadi, zasnovane na FS. To je mehanizem, sestavljen iz dveh plošč v obliki neenakostraničnih šestkotnikov in šestih identičnih hidravličnih valjev, ki ti dve plošči povezujejo. Z uporabo inverzne kinematike so bili analitično določeni največji koti zasukov hidravličnega mehanizma oz. njegove pomične ploščadi. To je bilo izvedeno ob predpostavki idealiziranih zglobov v točkah vpetja koncev hidravličnih valjev v plošči. Izveden je bil preračun z numeričnim modelom po MKE. Spreminjalo se je tudi konfiguracijo hidravličnega mehanizma in analiziralo, kako to vpliva na največje kote zasukov in obremenitve v hidravličnih valjih. Na zadnje so bile izvedene tudi meritve (tlaki, pomiki) na obstoječi prototipni ploščadi. Ugotovljeno je bilo, da konfiguracija Stewartove ploščadi vpliva tako na največje kote zasukov, kot tudi na največje obremenitve v hidravličnih valjih. Nadalje je bilo ugotovljeno tudi, da na obremenitve hidravličnih valjev najbolj vpliva rotacija pomične ploščadi okoli vertikalne osi.

Keywords

diplomske naloge;stewartova ploščad;analitičen popis;nosilnost;prostorske prostostne stopnje;paralelni manipulatorji;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [D. Lojk]
UDC: 621.22:629.7.08(043.2)
COBISS: 212420099 Link will open in a new window
Views: 31
Downloads: 20
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Other data

Secondary language: English
Secondary title: Hydraulic mechanism for controlling six degrees of freedom of the platform
Secondary abstract: This thesis deals with the analysis of the load behaviour of a prototype of the Stewart platform, which was developed and built at the Faculty of Mechanical Engineering in Ljubljana. It is a mechanism consisting of two plates represented by two irregular hexagons and six identical hydraulic cylinders connecting them. Using inverse kinematics, the maximum rotation angles of the hydraulic mechanism (its moving platform) were analytically determined. This was performed under the assumption of idealized connections at the points, where the ends of the hydraulic cylinders are attached to the platforms. A calculation was carried out using a numerical model based on FEM. The configuration of the hydraulic mechanism was also changed, and an analysis was conducted on how this affects the maximum rotation angles and the loads in the hydraulic cylinders. Finally, measurements (pressures, displacements) were carried out on the existing prototype platform. It was determined that the configuration of the Stewart platform affects both the maximum rotation angles and the maximum loads in the hydraulic cylinders. It was further determined that the loads in the hydraulic cylinders are most influenced by the rotation of the moving platform around the vertical axis.
Secondary keywords: stewart's platform;analytical approach;load carrying capacity;spatial degrees of freedom;parallel manipulators;
Type (COBISS): Bachelor thesis/paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. v Ljubljani, Fak. za strojništvo
Pages: XXII, 62 str.
ID: 25258711
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