The coordinate system transformation of a serial kinematic structures and use in the derivation of systems motion equations

This text discusses the use of transformation matrices to determine the motion equations of the complex mechanical structure. Use of the transformation matrix does not apply only to motion equations but has the general use in relative positions determine of objects in the 3D space. Analysed model is divided into seven physical objects, the transformation matrix and the corresponding inertia/pseudo-inertia matrix is included in each of them. This matrices are strictly necessary to the system dynamic description using the matrix form of Lagrange Equations of the Second Type. Another possibility to use the transformation matrix is shown in the camera system measurement. Model was designed in 3D CAD system SolidWorks, MATLAB was used for the mathematical calculations

The simulation of a non-linear unstable system of motion, utilising the Solid Works and Matlab/Simulink extended libraries/toolboxes

This text discusses the use and integration of various support software tools for the purpose of designing the motion control law governing mechanical structures with strongly non-linear behaviour. The detailed mathematical model is derived using Lagrange Equations of the Second Type. The physical model was designed by using SolidWorks 3D CAD software and a SiniMechanics library. It extends Simulink with modelling tools for the simulation of mechanical "multi-domain" physical systems. The visualization of Simulink outputs is performed using the 3D Animation toolbox. Control law - designed on the basis of the mathematical model, is tested for both models (i.e. mathematical and physical) and the regulatory processes' results are compared

Simulation and visualisation of a laboratory model by support software tools connection

This article introduces the possibilities of the simulation and visualisation of the "Twin-Rotor MIMO System" laboratory model outputs by means of various support software tools. The 3D model of the system, (used for simulation and visualisation), is designed in SolidWorks 3D CAD software. Matlab/Simulink with extension libraries like Simscape and 3D Animation - (formerly Virtual Reality Toolbox), is used for 3D visualisation and simulation. The 3D Animation toolbox is only used for the visualisation of the mathematical and real models. The Simscape library - on the other hand, is used for the validation of the reverse control of the derived mathematical models correctness and for simulation and analysis purposes as a suitable substitution for real models. As a result of this, these supporting software tools streamline the overall suggested controls - from analysis to presentation of the results

Návrh způsobu třídění nízkolegovaných ocelí k zabezpečení jejich hutního zpracování s přihlédnutím na zjištění propalu jednotlivých legovaných prvků

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Dynamic simulation of the CAD model in SimMechanics with multiple uses

When designing a mechatronic system, several steps are taken into account. One of the main steps is the design of a CAD model representing the physical part of the system, and another major point is the development of the mathematical model necessary for the respective controller design. This paper combines both design steps and shows the advantages of using this approach. First, a CAD model is created considering the kinematic and dynamic behavior of the system as well as respective material properties. This CAD model is, in parallel, used for both purposes: as the main basis for developing a mathematical model that will be used for definition of control laws and appropriate system controllers, and also to generate a physical model as result of exporting to MATLAB/Simulink (Simscape/SimMechanics library) in order to simulate the system behavior. This translation does not consider only the standard CAD model export to the SimMechanics library when forces and torques between links are clearly defined, but also the correct way to add corresponding limiting forces/torques. When comparing the behavior of the physical model and the mathematical model, it is important to obtain similar results, especially when it is necessary to perform some simplifications of a mathematical model, as happens in the context of nonlinear systems control. All these issues are discussed in this paper and the obtained simulation results for both models are similar, which confirms the proposed approach. © TUBITAK

Collaborative Robot YuMi in ball and plate control application: Pilot study

Ball & Plate is a well-known concept and interesting example of an unstable process. Numerous types of Ball & Plate structure can be found and this paper tries to extend its potential of moving the whole plate in space by using an industrial robotic manipulator as the most flexible way to achieve this goal. The collaborative dual-arm robot YuMi from ABB is chosen for this task as the balance between precision and safety. The purpose of the paper is to investigate restrictions and boundaries of such solution, thus the model is identified and based on this identification is designed a controller, which is tested in a simulation environment. © 2019, Springer International Publishing AG, part of Springer Nature.IGA, Ministry of Education of the Republic of Belarus; IGA/CebiaTech/2018/002, Ministry of Education of the Republic of Belaru