subiecte dinamica robotilor (rezolvate)
DESCRIPTION
Subiecte la disciplina Dinamica Robotilor + Rezolvarefacultatea de mecanica iasiTRANSCRIPT
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1. Stabilitatea sistemelor mecanice in regim dinamic ( stabilitatea in plan complex ) Transformata LaPlace
Pentru rezolvarea acestor ecuatii se foloseste transformata LaPlace care transforma ecuatiile diferentiale in ecuatii polinomiale.
O proprietate esentiala este LaPlace a functiei derivate.
;
Functia de transfer a sistemelor mecanice:
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Matlab:
Sistemele mecanice este stabil daca polii se afla strict in semiplanul stang a planului complex. Daca polii sunt situati in semiplanul drept sistemul este instabil. Daca radacinile sunt pe axa 𝑗𝜔 sistemul este instabil deasemenea.
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2. Modele dinamice ale structurilor mecanice din component robotilor + o aplicatie. Modelele pot fi liniare sau rotative. In general modelul dinamic se refera la elementul conducator ( motorul de actionare ) sau la elementul condus. Marimile reduse sau echivalente in cadrul modelelor rezulta prescrierea unor ecuatii de conservare a puterilor sau energiilor cinetice. Fortele si momentele reduse rezulta prin inegalizarea puterilor din model cu cele din sistemul mecanic.
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3. Dinamica sistemelor de actionare a robotilor. Sisteme cu actionare electrica , stabilitatea statica.
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SISTEME DE ACTIONARE ELECTRICA ( S A E )
Performantele SAE :
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4. Modelarea dinamica a motorului de current continuu cu excitatie separate sau cu M.P a) Regim stationar.
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4. Modelarea dinamica a motorului de current continuu cu excitatie separate sau cu M.P b) Regim tranzitoriu
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5. Modelarea motorului de c.c cu M.P a) Dupa viteza
Reprezentarea in SIMULINK
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5. Modelarea motorului de c.c cu M.P b) Dupa pozitie
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6. Modelarea dinamica a actionarilor cu motoare pas cu pas.
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7. Dinamica cuplei conducatoare a robotului cu o masa inertiala , considerandu-se sistem mechanic:
a) Perfect rigid
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7. Dinamica cuplei conducatoare a robotului cu o masa inertiala , considerandu-se sistem mechanic:
b) Elastic
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8. Modele dinamice ale robotilor . Ecuatiile Lagrange-Euler.
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9. Exemple de modele dinamice ale robotilor : b) Manipulator cu 2 grade de libertate in coordinate polare ( 2 elemente cinematice si 2 cuple conducatoare ( rotatie ; translatie )
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9. Exemple de modele dinamice ale robotilor : c) Manipulator cu 2 grade de libertate de tip cartezian ( cu 2 elemente de cuple , conducatoare de translatie );
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9. Exemple de modele dinamice ale robotilor : e) Manipulator cu 3 grade de libertate in coodronate cilindrice ( cu 2 elemente si 3 cuple cinematice conducatoare ; una de translatie , una cilindrica ( rotatie ; translatie ) )
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10. Modelarea dinamica a robotului industrial : Generalizare : a) Modele dinamice a1) model dinamic direct – aplicatii
a2) model dinamic invers – aplicatii
a1)
a2)
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