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) .

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Published

2019-01-29

How to Cite

1.
النمذجة الرياضية لحركة وتحريك ذراع آلية رباعية درجة الحرية. Tuj-eng [Internet]. 2019Jan.29 [cited 2024Nov.24];31(3). Available from: https://journal.tishreen.edu.sy/index.php/engscnc/article/view/7153

Issue

Vol. 31 No. 3 (2009): العلوم الهندسية

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Articles

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