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Dynamic analysis of oscillations with multiple degrees of freedom
Schulmeister, Jiří ; Houfek, Lubomír (referee) ; Březina, Lukáš (advisor)
This thesis is dealing with analysis of oscillating with multiple degrees of freedom and with example of dynamic behavior of system with two degrees of freedom with different input signals for purposes of dynamic lessons. Conventional method of making equations of motion by Lagrange’s method and their consecutive analysis is inscribed in the work. As example of system with two degrees of freedom is chosen quarter car model. Responses to different input signals are shown for the model. It is made in MATLAB/SIMULINK.
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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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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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Dynamic analysis of oscillations with multiple degrees of freedom
Schulmeister, Jiří ; Houfek, Lubomír (referee) ; Březina, Lukáš (advisor)
This thesis is dealing with analysis of oscillating with multiple degrees of freedom and with example of dynamic behavior of system with two degrees of freedom with different input signals for purposes of dynamic lessons. Conventional method of making equations of motion by Lagrange’s method and their consecutive analysis is inscribed in the work. As example of system with two degrees of freedom is chosen quarter car model. Responses to different input signals are shown for the model. It is made in MATLAB/SIMULINK.
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