title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð²Ð»Ð¸ÑÐ½Ð¸Ñ ÑÐ»Ð¾Ð¶Ð½ÑÑ ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²Ð¾ÑÐ½ÑÑ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¹ Ð½Ð° ÐºÐ°ÑÐµÑÑÐ²Ð¾ Ð¸Ð´ÐµÐ½ÑÐ¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: The investigation of the influence of complex excitation trajectories on the identification quality of dynamic parameters of industrial robots
Creators: name: ÐÐ¸ÑÐ¸, Ð¡Ð¸Ð´Ð´ÑÐ°ÑÑÑÐ°
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2018
Subjects: Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÑ
Ð¾Ð±ÑÐ°ÑÐ½Ð°Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÐºÐ°

description: ÐÐ°ÑÐ°Ð»Ð»ÐµÐ»ÑÐ½ÑÐµ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÑ Ð¿Ð¾Ð»ÑÑÐ¸Ð»Ð¸ Ð±Ð¾Ð»ÑÑÑÑ Ð¿Ð¾Ð¿ÑÐ»ÑÑÐ½Ð¾ÑÑÑ Ð² ÑÐ²ÑÐ·Ð¸ Ñ Ð²ÑÑÐ¾ÐºÐ¸Ð¼Ð¸ Ð¿Ð¾ÑÐµÐ½ÑÐ¸Ð°Ð»Ð°Ð¼Ð¸ Ñ ÑÐ¾ÑÐºÐ¸ Ð·ÑÐµÐ½Ð¸Ñ ÑÐ¾ÑÐ½Ð¾ÑÑÐ¸ Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐ½Ð¾ÑÑÐ¸.ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¸Ñ Ð¿ÑÐ¸Ð²Ð»ÐµÐºÐ»Ð¾ Ð²Ð½Ð¸Ð¼Ð°Ð½Ð¸Ðµ ÑÐ¾Ð¾Ð±ÑÐµÑÑÐ²Ð° ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÐºÐ¸ Ð·Ð° Ð¿Ð¾ÑÐ»ÐµÐ´Ð½Ð¸Ðµ Ð³Ð¾Ð´Ñ. Ð¡Ð¸ÑÑÐµÐ¼Ð° Ð¾Ð±Ð»Ð°Ð´Ð°ÐµÑ ÑÐ»ÐµÐ´ÑÑÑÐ¸Ð¼Ð¸ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð°Ð¼Ð¸: Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÑ ÑÐ°Ð±Ð¾ÑÑ Ñ Ð±Ð¾Ð»ÑÑÐµÐ¹ Ð½Ð°Ð³ÑÑÐ·ÐºÐ¾Ð¹, Ð±Ð¾Ð»ÐµÐµ Ð²ÑÑÐ¾ÐºÐ¾Ð¹ ÑÐºÐ¾ÑÐ¾ÑÑÑÑ Ð¸ Ñ Ð³Ð¾ÑÐ°Ð·Ð´Ð¾ Ð±Ð¾Ð»ÑÑÐµÐ¹ ÑÐ¾ÑÐ½Ð¾ÑÑÑÑ. Ð ÑÑÐ¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ ÑÑÐ°Ð²Ð¸ÑÑÑ Ð·Ð°Ð´Ð°ÑÐ° Ð½Ð°ÑÐ¾Ð¶Ð´ÐµÐ½Ð¸Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½ÑÑ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð¸ ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð². ÐÑÐ¿Ð¾Ð»ÑÐ·ÑÐµÑÑÑ Ð´ÐµÐ»ÑÑÐ°-ÑÐ¾Ð±Ð¾Ñ CODIAND4-1100-2. Ð Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð¼Ð°Ð³Ð¸ÑÑÐµÑÑÐºÐ¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ñ ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÑ ÑÐ¾Ð±Ð¾ÑÐ° Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸ÐµÐ¼ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð¼ÐµÑÐ¾Ð´Ð¾Ð². ÐÐ¾Ð»ÑÑÐµÐ½Ð½ÑÐµ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¼Ð¾Ð³ÑÑ Ð±ÑÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ñ Ð´Ð»Ñ Ð¾ÑÐµÐ½ÐºÐ¸ Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¿Ð°ÑÐ°Ð»Ð»ÐµÐ»ÑÐ½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð¸ Ð² ÑÐµÐ»ÑÑ ÐµÐ³Ð¾ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ Ð½Ð¾Ð²ÑÑ Ð·Ð°Ð´Ð°Ñ.ÐÐ°Ð½Ð½ÑÐ¹ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ Ð¸Ð¼ÐµÐµÑ ÑÑÐ¸ ÑÐ¸ÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÑ Ð¿Ð°ÑÐ°Ð»Ð»ÐµÐ»ÑÐ½ÑÑ Ð»Ð¸Ð½ÐµÐ¹Ð½ÑÑ ÑÐ¾ÐµÐ´Ð¸Ð½ÐµÐ½Ð¸Ñ, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÑÑÐ°Ð½Ð¾Ð²Ð»ÐµÐ½Ñ Ð¾ÑÑÐ¾Ð³Ð¾Ð½Ð°Ð»ÑÐ½Ð¾, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¿ÐµÑÐµÐ´Ð²Ð¸Ð¶Ð½ÑÑ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ, ÐºÐ¾ÑÐ¾ÑÐ°Ñ Ð¿ÐµÑÐµÐ¼ÐµÑÐ°ÐµÑÑÑ Ð² Ð´ÐµÐºÐ°ÑÑÐ¾Ð²Ð¾Ð¼ Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ x-y-z Ñ ÑÐ¸ÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¹ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸ÐµÐ¹.
description: Due to the conceptual potentials in high motion dynamics and accuracy combined with high structural rigidity, the PKM have gained much popularity. The research about the PKMs have recently attracted an immense attention to the robotics community. It possess the advantages of deploying with heavier working load, higher speed, and with much higher precision. Our efforts in this paper is to apply the PKM in maximum work envelope along with the most appropriate trajectories with optimized kinematic parameters. We are researching on CODIAN D4-1100-2 delta robot and our attempts are to optimize the stimulation trajectories to have quicker operational models. In this Master Thesis, the kinematic parameters of the machine tool is investigated, and the concise dynamic parameters have been developed using various techniques. These models can be used to evaluate the performances of existing PKM's and to optimize the new structures of machine's to accomplish speciï¬c tasks. This machine has three parallel linear joints which are fixed orthogonally along with a mobile platform which moves in the cartesian x-y-z space with a fixed orientation.