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Modification of the WT10 aircraft for the fixed landing gear according to the CS-23 requirements
Kubiena, Jaromír ; Juračka, Jaroslav (referee) ; Vaněk, František (advisor)
In this thesis, we deal with the design of a shock absorber variant for the type of main landing gear design of the aircraft WT10 Advantic. Then we focus on the design of the selected variant of the main landing gear. Next, we follow regulation CS-23 demands to calculate the load cases for the selected main lending gear. Then we design shock absorber based on the load during landing. We compile the equation of motion of the aircraft, which describes motion of the aircraft during landing, then we compute the equation. Finally, we focus on a stress analysis of the main landing gear and the shock absorber.
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Dynamics of Snake Robots
Kubiena, Jaromír ; Doupovec, Miroslav (referee) ; Návrat, Aleš (advisor)
In this thesis, we deal with the mathematical description of the kinematics and the dynamics of mechanical systems. Then we focus on the particular mechanical system which is the Square robot with four legs with active joints and passive wheels, which moves on horizontal plane. The kinematics of the mechanical system is described by the control matrix, then we use it to express the equations of motion. We compute the dynamics the robot by using Lagrange equations. We verify that the mechanical system is nonholonomic constrained and we verify controllability by using Lie bracket and distribution. We find the singular postures of the robot.
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Modification of the WT10 aircraft for the fixed landing gear according to the CS-23 requirements
Kubiena, Jaromír ; Juračka, Jaroslav (referee) ; Vaněk, František (advisor)
In this thesis, we deal with the design of a shock absorber variant for the type of main landing gear design of the aircraft WT10 Advantic. Then we focus on the design of the selected variant of the main landing gear. Next, we follow regulation CS-23 demands to calculate the load cases for the selected main lending gear. Then we design shock absorber based on the load during landing. We compile the equation of motion of the aircraft, which describes motion of the aircraft during landing, then we compute the equation. Finally, we focus on a stress analysis of the main landing gear and the shock absorber.
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Dynamics of Snake Robots
Kubiena, Jaromír ; Doupovec, Miroslav (referee) ; Návrat, Aleš (advisor)
In this thesis, we deal with the mathematical description of the kinematics and the dynamics of mechanical systems. Then we focus on the particular mechanical system which is the Square robot with four legs with active joints and passive wheels, which moves on horizontal plane. The kinematics of the mechanical system is described by the control matrix, then we use it to express the equations of motion. We compute the dynamics the robot by using Lagrange equations. We verify that the mechanical system is nonholonomic constrained and we verify controllability by using Lie bracket and distribution. We find the singular postures of the robot.
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