Snovanje pogonskega dela simulatorja dinamike vožnje

Prudič, Peter (author), Kunc, Robert (mentor)

Za že izbrani mehanski koncept prenosnega simulatorja vožnje, ki deluje na principu Stewart-Goughove ploščadi, je potrebno zasnovati pogonski del. Za pogon je potrebno razviti program, ki določa premike motorjev glede na vhodne podatke. Vhodni podatki so naključno generirani premiki ali pospeški v vseh šestih prostostnih stopnjah. Program je bil napisan v programskem jeziku Python in numerično potrjen z izdelano primerjavo premikov v programskem okolju ADAMS. Program deluje na principu preračunavanja inverzne kinematike mehanizma. Pogon je izveden s servomotorji. Izdelan je bil tudi prototip ploščadi.

• Language: Slovenian
• Keywords: simulator vožnje, Stewart-Goughova ploščad, inverzna kinematika, direktna kinematika, prostostne stopnje
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [P. Prudič]
• Year: 2018
• Number of pages: 80 str.
• PID: 20.500.12556/RUL-101652
• UDC: 004.383.4:519.8:629.026(043.2)
• COBISS.SI-ID: 16131867
• Publication date in RUL: 23.06.2018

Secondary language

• Language: English
• Title: Design of driving part of driving simulator

Abstract

A mechanical concept was chosen for a portable driving simulator which work on Stewart-Gought platform and a drive needs to be designed for it. To design the drive it is necessary to develop a programme that determines the movement of the motors regarding the input data. The input data are randomly generated movements or accelerations in all six degrees of freedom. The programme was written in programming language Python and numerically validated with a made comparison of movements in the ADAMS programming environment. Programme works on principles of inverse kinematic. Servo motors are used for a drive. A prototype was also made.

• Keywords: driving simulator, Stewart-Gought platform, inverse kinematics, forward kinematics, degrees of freedom