| Title |
Trijų laisvės laipsnių judesio platformos prototipo sukūrimas ir tyrimas / |
| Translation of Title |
Three degrees of freedom motion platform prototype development and testing. |
| Authors |
Loveikis, Martynas |
| Full Text |
|
| Pages |
62 |
| Keywords [eng] |
rrs ; parallel manipulators ; three degrees of freedom ; simtools ; simulation |
| Abstract [eng] |
The topic of the Final master‘s thesis – „Three degrees of freedom motion platform prototype development and testing“. The review of the theoretical part examines the articles related to the topic of the master’s thesis. Explanation of a manipulator and the possible perks of using various types are scrutinized in detail. Early mentioning of mechanisms related to parallel platforms. Determination of which parallel manipulator architecture is the most applicable for mimicking three degrees of freedom simulation. The design part shows the modelled parts of the prototype mechanism and how they join each other according to the SolidWorks model. As well as how the components hook up in between according to the designed wiring diagrams. Control stages of the prototype in the Arduino coding environment is explored in detail. Provided explanations of how the motion platform shifts according to the simulation model. Settings which are required for the open source SimTools program to correctly translate the prototype movements delivered from the simulation model are also given. In the research part theoretical tests were done to determine the amplitude of motion of the kinematic chains present in the prototype platform and motion speed. A developed Simscape model of the Simulink environment was used to accomplish theoretical tests. Real platform tests of speed, inclination size, sound level were also performed. The following test results are compared with the motion platforms available on the market. |
| Dissertation Institution |
Kauno technologijos universitetas. |
| Type |
Master thesis |
| Language |
Lithuanian |
| Publication date |
2022 |
