النمذجة الرياضية لحركة وتحريك ذراع آلية رباعية درجة الحرية

Abstract

أصبح للأذرع الآلية في الوقت الحالي تطبيقات عديدة في المعامل والمصانع, حيث تم استخدمها من أجل نقل وترتيب ومعالجة القطع والأدوات, وغيرها من المهام التي تتطلب كمية كبيرة من تكرار مثل هذه  العمليات. وهذه العمليات تشمل سلسلة من الحركات التي تكون معرّفة ومحددة سابقاً.

تم في هذه البحث دراسة هذه السلسلة من الحركات التي تسمى الدراسة الكينماتيكية ( دراسة الحركة بدون وجود قوى )  بالإضافة إلى الدراسة الدينامكية  ( مع وجود قوى ) لذراع آلية رباعية درجة الحرية (4DOF) مزودة بمفصلين دورانيين (2RR) ومفصلين انسحابيين(2PP), كما تم إعداد برنامج لحساب القوى والسرع للمفاصل والوصلات.

 

Manipulator has become at the present time many applications in the laboratories and factories where they were used for the transfer, the order and deal with the parts and tools, and other tasks that require a large amount of repetition of such operations. These include a series of movements that have specific knowledge of the past .

In this research study of this series of movements called Kinematic study (the study of movement without the presence of forces) in addition to the dynamic (with the presence of the forces) to the manipulator of a four-degree of freedom (4DOF) with two joints are rotational (2RR) and two joints are prismatic (2PP) .

Downloads

Published

2019-01-29

How to Cite

1.
النمذجة الرياضية لحركة وتحريك ذراع آلية رباعية درجة الحرية. Tuj-eng [Internet]. 2019Jan.29 [cited 2024Dec.26];31(3). Available from: https://journal.tishreen.edu.sy/index.php/engscnc/article/view/7153

Issue

Vol. 31 No. 3 (2009): العلوم الهندسية

Section

Articles

License

Copyright (c) 2019 ttps://creativecommons.org/licenses/by-nc-sa/4.0/

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

The authors retain the copyright and grant the right to publish in the magazine for the first time with the transfer of the commercial right to Tishreen University Journal for Research and Scientific Studies - Engineering Sciences Series

 Under a CC BY- NC-SA 04 license that allows others to share the work with of the work's authorship and initial publication in this journal. Authors can use a copy of their articles in their scientific activity, and on their scientific websites, provided that the place of publication is indicted in  Tishreen University Journal for Research and Scientific Studies - Engineering Sciences Series   .  The Readers have the right to send, print and subscribe to the initial version of the article, and the title of  Tishreen University Journal for Research and Scientific Studies - Engineering Sciences Series     Publisher

journal uses a CC BY-NC-SA license which mean

You are free to:

  • Adapt — remix, transform, and build upon the material
  •  
  • The licensor cannot revoke these freedoms as long as you follow the license terms.

 

  • Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
  • NonCommercial — You may not use the material for commercial purposes.
  • ShareAlike — If you remix, transform, or build upon the material, you must distribute your contributions under the same license as the original.
  • No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.