| Popis: |
Zaključna naloga obravnava problem dinamike sistema togih teles, ki so med seboj povezana z rotacijskimi spoji. Osredotočimo se na gibanje sistema. Definirali smo začetno lego iz katere se sistem začne gibati pod vplivom svoje mase in zunanjih obremenitev v spojih med elementi, ki simulirajo aktuatorje robotske roke. Reševanje predstavimo prek zapisa vektorja posplošenih enačb in preračuna vektorja povezovalnih enačb iz česar sledijo diferencialne enačbe pospeška za pridobitev zasuka in hitrosti elementov sistema po času. Rezultate predstavlja animacija gibanja sistema togih teles, do katere pridemo na osnovi numeričnih izračunov. Tako izračuni, kot tudi izris animacije potekajo z uporabo programskega jezika Python. Ta omogoča identifikacijo lastnosti gibanja sistema. The diploma thesis deals with the problem of the dynamics of a system of rigid bodies interconnected by rotational joints. We focus on the movement of the system. We defined the initial position from which the system starts moving under influence of its own mass and external loads in rotational joints which simulate the actuators of robotic arm. The solution is presented through the notation of generalized equations and the calculation of the connecting equations from the comb followed by the differential equations of acceleration to obtain the rotation and velocity of the elements of the system over time. Results are presented in form of animation of the movement of the system of rigid bodies, which originates form numeric calculations. The calculations as well as the animation plotting are done by the use of Python programming language. This enables the identification of the system movement properties. |
