20.500.12556/RUL-171479 Kinematična in dinamska analiza satelitskega antenskega sistema Kinematic and dynamic analysis of a satellite antenna system Satelitske antene so ključni del sodobnih komunikacijskih sistemov, kjer je natančno usmerjanje bistveno za preprečevanje izgube signala. Ker so pogosto izvedene kot dvoosni mehanizmi, podobni robotskim manipulatorjem, smo za analizo njihovega gibanja razvili matematični model, ki za razliko od idealiziranih togih modelov upošteva tudi vpliv prožnosti vpetja. Kinematika sistema je opisana z Denavit-Hartenbergovo formulacijo, na podlagi katere so bile z Lagrangeovo mehaniko v programskem jeziku Python izpeljane gibalne enačbe razširjenega dinamičnega modela. Z razvitim modelom je bila izvedena numerična modalna analiza, s katero so bile identificirane lastne frekvence in oblike nihanja sistema. Analiza omogoča boljše razumevanje dinamičnih lastnosti in predstavlja osnovo za simulacijo trajektorij in načrtovanje vodenja antenskega sistema. Satellite antennas are a key part of modern communication systems, where precise alignment is essential to prevent signal loss. Since they are often implemented as twoaxis mechanisms similar to robotic manipulators, we have developed a mathematical model to analyze their motion, which, unlike idealized rigid models, also takes into account the influence of the flexibility of the mounting. The kinematics of the system is described by the Denavit-Hartenberg formulation, on the basis of which the equations of motion of the extended dynamic model were derived using Lagrangian mechanics in the Python programming language. A numerical modal analysis was performed with the developed model, which identified the natural frequencies and oscillation modes of the system. The analysis allows for a better understanding of the dynamic properties and represents the basis for simulating trajectories and planning the control of the antenna system. satelitske antene direktna kinematika Denavit-Hartenbergova formulacija analiza dinamike numerična modalna analiza Python satellite antennas direct kinematics Denavit-Hartenberg formulation dynamics analysis numerical modal analysis Python true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2025-08-27 08:31:33 2025-08-27 08:31:35 2025-09-04 10:44:11 0000-00-00 00:00:00 2025 0 0 XII, 34 f. 2025 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 531.3:621.396.67:004.942(043.2) 274784 247655939 43161.pdf 43161.pdf 1 5C2F594FAB7EB9422546CE971921FC44 c99c5859a8dde3b472246ba9fdd4be92d3ad569833827fe3f66b4775a7763e2f 5a5434a9-830f-11f0-9328-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=214810 Fakulteta za strojništvo 0 0 0