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Dynamic Model of Harmonic Gearbox
Garami, Boris ; Lošák, Petr (referee) ; Hadaš, Zdeněk (advisor)
This thesis deals with the design of a dynamic model of a harmonic drive. It includes a theoretical study aimed at the analysis of the harmonic drive gearing principle and its nonlinear properties. The first part of the practical section deals with the analytical calculation of the nondeformed geometry of the Flexspline. Based on these results, several simulations in ANSYS are created to identify torsional characteristics of a harmonic drive. These simulation models are further enhanced by the analysis of clearance, backlash and inaccuracies and their impact on torsional properties. By using MATLAB /Simulink, several dynamic submodels are created representing the individual characteristics of nonlinearities in harmonic drives. Furthermore, a comprehensive dynamic model is created of the mechatronic system which is describing all nonlinearities and kinematic error of the transmission. The dynamic model is also experimentally verified based on its damping properties.
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Design of test rig for measurement of adhesion and noise in wheel-rail contact
Gabriel, Tomáš ; Robenek, Dětřich (referee) ; Omasta, Milan (advisor)
This master’s thesis is dedicated to the design of an experimental rig that allows investigation of causes for noise during tram’s passing of a track curve and the developement of means to mitigate this noise. The opening section of this thesis contains theoretical background for the tribological mechanics of wheel-rail contact with emphasis on the process of noise generation, followed by an overview of laboratory tst rigs with similar purpose. Design itself is centered around the implementation of the dynamic model of wheel-rail contact using real tram wheel. Resulting test rig allows measurement of the adhesion characteristic in tangential and lateral directions and recording of the generated noise while an angle of attack is set.
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Silicone torsional vibration damper for a six-cylinder diesel engine
Kovář, Lukáš ; Kučera, Pavel (referee) ; Píštěk, Václav (advisor)
The aim of this thesis is to design crankshaft for in-line six-cylinder diesel engine and to design viscous torsional vibration damper for the cranktrain of specified parameters. The thesis includes the creation of a dynamic torsional model of cranktrain and calculation of forced vibrations of mechanism with and without damper. Part of this thesis is also strength analysis of the designed crankshaft with damper using the Finite Element Method (FEM).
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Modelování chůze čtyřnohého robotu
Číž, Adam ; Křivánek, Václav (referee) ; Grepl, Robert (advisor)
This thesis deals with creation of a dynamic model of a walking quadruped robot in MATLAB/Simscape Multibody environment. It describes the process of creation from modelling of the geometry all the way to the gait algorithm assembly. Inverse kinematics was used to create the gait algorithm. The thesis also includes evaluation of the outputs of the model in form of angular velocity and torque time course in the joints of the robot while walking.
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Design and control of self balancing robot
Jiruška, Jiří ; Pohl, Lukáš (referee) ; Blaha, Petr (advisor)
This thesis deals with complete design and manufacturing of autonomous two wheeled self-balancing robot. The goal of this thesis is to maintain the robot in up-right position and to follow black line using camera. The robot is controlled using Raspberry Pi and driven by DC motors. This thesis includes the design and implementation of hardware and software parts. Subsequently there was created the dynamic model in Matlab/Simulink. Based on this model, the LQR and PID controller was designed.
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Design of the Gear Coupling for Railway Vehicle Application
Pelíšek, Vojtěch ; Řehák, Kamil (referee) ; Prokop, Aleš (advisor)
The aim of this work was to create a design of a gear coupling for railway vehicle application. The work presents a comprehensive view of this issue. First of all, a brief theoretical introduction to the issue is made. The practical part follows, where the design of the whole coupling and especially the newly designed solutions are described in detail. The strength analysis performed deal with the key components that are necessary to ensure safe operation. These analyses can be applied not only for this particular case, but also to gear couplings of different designs, because in principle these calculations do not differ much. In the last chapter, which deals with the dynamic model, all the theoretical assumptions are verified, especially the coupling movements and the applied loads. If the reader deals with the issue of gear couplings, not only in the railway industry, this work presents a comprehensive view of this component. The designed coupling and all performed simulations are really usable in operation.
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Modelling and control of wheeled mobile robots
Jonszta, David ; Šembera, Jaroslav (referee) ; Šolc, František (advisor)
The thesis deals with modelling and control of wheeled mobile robots. The thesis introduces the mathematical models of diferentially driven mobile robot, robot with Ackerman steering and a skid steered robot. The thesis describes open-loop and feedback control. Feedback control is divided into point-to-point control, path following and trajectory tracking.
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Optimisation of gear ratio for racing cars
Bém, Pavel ; Roupec, Jakub (referee) ; Mazůrek, Ivan (advisor)
Pavel BÉM Optimisation of Gear Ratio for Race Cars DW, IAE, 2008, pp. 62, fig. 69. At first I labellig problems about gearboxes than, I review dataloggers for racing cars using now. I create model of dynamic simulating car move during at akcelerating and decelerating on choice track. I create program analyzating data from telemetry and applicated dynamic model to optimisation gears ratio.
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Signaling Pathway for Butanol Production in Solventogenic Clostridium Bacteria
Musilová, Jana ; Škutková, Helena (referee) ; Sedlář, Karel (advisor)
Diplomová práce se zabývá studiem signální dráhy produkce butanolu bakterií rodu Clostridium. V první části pojednává o modelování signálních drah pomocí metod systémové biologie. Navazuje popisem zisku dat pro tvorbu a úpravu modelů signálních drah s hlavním zaměřením na techniky pro zjištění genové exprese, produkce a fenotypu. Třetí sekcí je získání základního modelu signální dráhy zapojené do produkce butanolu u solventogenních klostridií. Posledním bodem a zároveň hlavním cílem je vytvoření dynamického modelu signální dráhy produkce butanolu kmene Clostridium beijerinckii NRRL B-598, jeho vyhodnocení pomocí statické a dynamické analýzy a srovnání s biologickými daty.
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