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Modeliranje i analiza rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA sa osnaženim translatornim zglobovima
Modeling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints
dc.creator | Vasilić, Goran | |
dc.creator | Živanović, Saša | |
dc.date.accessioned | 2022-09-19T17:50:09Z | |
dc.date.available | 2022-09-19T17:50:09Z | |
dc.date.issued | 2016 | |
dc.identifier.issn | 0040-2176 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/2271 | |
dc.description.abstract | U ovom radu je prikazano modeliranje i analiza jednog rekonfigurabilnog dvoosnog paralelnog mehanizma. Predstavljen je generalizovani model za rešavanje inverznog i direktnog kinematičkog problema. Izvedene su uopštene jednačine koje predstavljaju rešenje kinematičkih problema paralelnog mehanizma koje važe za bilo koju konfiguraciju rekonfigurabilnog dvoosnog paralelnog mehanizma. Kao primeri realizacije pokazane su izdvojene karakteristične konfiguracije mehanizma. Za izdvojene konfiguracije određen je radni prostor i analizirani su mogući singularni položaji mehanizma. | sr |
dc.description.abstract | This paper presents modeling and analysis of a 2-axis reconfigurable parallel mechanism. In this paper, generalized model for solving of inverse and direct kinematic problems is presented. Generalized equations that represent the solution of the kinematic problems of parallel kinematic mechanism applicable to any configuration of 2-axis reconfigurable parallel mechanism are derived. Some of characteristic configurations of 2-axis parallel mechanism are shown as examples. For the selected configurations the workspaces are determined and the possible singular positions of these configurations are analized. | en |
dc.publisher | Savez inženjera i tehničara Srbije, Beograd | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | Tehnika | |
dc.subject | singulariteti | sr |
dc.subject | rekonfigurabilni dvoosni paralelni mehanizam | sr |
dc.subject | radni prostor | sr |
dc.subject | inverzni i direktni kinematički problem | sr |
dc.subject | workspace | en |
dc.subject | singularities | en |
dc.subject | inverse and direct kinematic problem | en |
dc.subject | 2-axis reconfigurable parallel mechanism | en |
dc.title | Modeliranje i analiza rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA sa osnaženim translatornim zglobovima | sr |
dc.title | Modeling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints | en |
dc.type | article | |
dc.rights.license | BY | |
dc.citation.epage | 63 | |
dc.citation.issue | 1 | |
dc.citation.other | 71(1): 57-63 | |
dc.citation.rank | M51 | |
dc.citation.spage | 57 | |
dc.citation.volume | 71 | |
dc.identifier.doi | 10.5937/tehnika1601057V | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/1025/2268.pdf | |
dc.type.version | publishedVersion |