dc.creator | Vidaković, Jelena | |
dc.creator | Kvrgić, Vladimir | |
dc.creator | Ferenc, Goran | |
dc.creator | Dančuo, Zorana | |
dc.creator | Lazarević, Mihailo | |
dc.date.accessioned | 2023-02-22T15:29:11Z | |
dc.date.available | 2023-02-22T15:29:11Z | |
dc.date.issued | 2013 | |
dc.identifier.isbn | 978-86-909973-5-0 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4446 | |
dc.description.abstract | Human centrifuge is dynamic flight simulator used to provide motion and forces
cues of modern combat aircraft. It is mainly intended for safe and reliable generation of high
G onset rates and high levels of sustained G for pilot trainings and research. In this paper,
modeling of human centrifuge as a three DoF robot manipulator with revolute joints is
presented. Pilots seat is controlled as end-effector. Here, Rodriguez formula is proposed for
modeling kinematics and dynamics of the human centrifuge. Algorithms of direct and
inverse kinematics are developed. Velocities and accelerations of CM’s (centers of masses)
of centrifuge links are determined and the results are compared with results obtained from
developed Jacobian where singular positions are particularly discussed. Inverse dynamics
algorithm based on covariant form of Lagrange equations of the second kind is given.
Developed kinematic and dynamic models are implemented into control unit and simulated
in offline part if control system. | sr |
dc.language.iso | en | sr |
dc.publisher | Belgrade: Serbian Society of Mechanics | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35023/RS// | sr |
dc.rights | openAccess | sr |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/4.0/ | |
dc.source | Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 | sr |
dc.subject | Human centrifuge | sr |
dc.subject | kinematic model | sr |
dc.subject | dynamic model | sr |
dc.subject | Rodriguez formula | sr |
dc.title | Kinematic and Dynamic Model of the Human Centrifuge | sr |
dc.type | conferenceObject | sr |
dc.rights.license | BY-NC-ND | sr |
dc.citation.epage | 632 | |
dc.citation.rank | M33 | |
dc.citation.spage | 627 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/10640/Vidakovic____SDM2013SectionD.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4446 | |
dc.type.version | publishedVersion | sr |