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Optimizacija dužina spojki dvoosnog rekonfigurabilnog paralelnog mehanizma - MOMA
Optimisation of the lenght of legs of the 2-DOF reconfigurable parallel mechanism – MOMA
dc.contributor | Babić, Bojan | |
dc.contributor | Živanović, Saša | |
dc.creator | Vasilić, Goran | |
dc.creator | Živanović, Saša | |
dc.creator | Kokotović, Branko | |
dc.creator | Glavonjić, Miloš | |
dc.date.accessioned | 2023-03-03T04:35:45Z | |
dc.date.available | 2023-03-03T04:35:45Z | |
dc.date.issued | 2014 | |
dc.identifier.isbn | 978-86-7083-838-3 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4975 | |
dc.description.abstract | U radu je opisan jedan dvoosni rekonfigurabilni paralelni mehanizam MOMA, kao i mogućnosti njegove primene. Za paralelni mehanizam je rešen inverzni geometrijski problem a potom i izvedena Jakobijan matrica. Jednačine su izvedene tako da mogu predstavljati formalizam koji se može primeniti za bilo koju konfiguraciju paralelnog mehanizma MOMA. Prikazana je metoda za optimizaciju dužine spojki dvoosnog paralelnog mehanizma preko globalnog indeksa pokretljivosti. Određene su optimalne dužine spojki za više različitih konfiguracija paralelnog mehanizma. Na samom kraju je objašnjeno šta se dobija sa optimalnom dužinom spojki a šta se dobija kada se koristile spojke koje nemaju optimalnu dužinu. | sr |
dc.description.abstract | This paper describes a 2- axis reconfigurable parallel mechanism MOMA, and the possibility of its application. Inverse geometry problem for the parallel mechanism is solved and thereafter derived is Jacobian matrix. Equations can presents formalism which may be applied to any configuration of parallel mechanism MOMA. Shown is a method for optimisation lenght of legs. The method is based on global conditioning index. For different configuration of parallel mechanism were determined optimal lenght of legs. At the end is explanation the importance of optimal length of legs, what it offers and what is the result if lenght of legs are different of optimal lenght. | sr |
dc.language.iso | sr | sr |
dc.publisher | Univerzitet u Beogradu, Mašinski fakultet | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35022/RS// | sr |
dc.rights | openAccess | sr |
dc.source | 39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS, Zbornik radova, 3.28-3.35. | sr |
dc.subject | paralelni mehanizam | sr |
dc.subject | optimizacija | sr |
dc.subject | rekonfigurabilna mašina alatka | sr |
dc.subject | globalni indeks pokretljivosti | sr |
dc.title | Optimizacija dužina spojki dvoosnog rekonfigurabilnog paralelnog mehanizma - MOMA | sr |
dc.title | Optimisation of the lenght of legs of the 2-DOF reconfigurable parallel mechanism – MOMA | sr |
dc.type | conferenceObject | sr |
dc.rights.license | ARR | sr |
dc.citation.epage | 3.35 | |
dc.citation.rank | M63 | |
dc.citation.spage | 3.28 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/12028/Vasilic_Jupiter_2014.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4975 | |
dc.type.version | publishedVersion | sr |