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dc.contributor.advisorBulatović, Radovan
dc.contributor.otherVasović, Nebojša
dc.contributor.otherSavković, Mile
dc.contributor.otherBogdanović, Gordana
dc.contributor.otherMilićević, Ivan
dc.creatorBošković, Marina
dc.date.accessioned2019-06-10T16:06:48Z
dc.date.available2019-06-10T16:06:48Z
dc.date.available2020-07-03T15:10:45Z
dc.date.issued2019-03-04
dc.identifier.urihttp://eteze.kg.ac.rs/application/showtheses?thesesId=6721
dc.identifier.urihttp://nardus.mpn.gov.rs/handle/123456789/11175
dc.identifier.urihttps://fedorakg.kg.ac.rs/fedora/get/o:1136/bdef:Content/download
dc.description.abstractU disertaciji su predložene tri različite metode kojima se postiže uravnoteženje ravanskih mehanizama sa krutim članovima. Dodavanjem protivtegova, korišćenjem interpolacionih polinoma i primenom optimizacionih metoda izvršeno je smanjenje dinamičkih opterećenja, tj. uravnoteženje ravnih mehanizama. U cilju određivanja dinamičkih opterećenja, izvršena je kinematička i dinamička analiza mehanizama. Reakcije veza određene su primenom novog metoda koji se bazira na korišćenju Lagranževih jednačina sa množiteljima veza, metoda transformacije brzina i predstavljanjem članova manipulatora korišćenjem ekvivalentnog sistema sa koncentrisanim masama. Kroz odgovarajuće numeričke primere pokazana je efikasnost predloženih metoda za uravnoteženje mehanizama. Akcenat je na primeni savremenih biološki inspirisanih optimizacionih algoritama koji su se pojavili u poslednjih petnaestak godina. Ovim jednostavnim algoritmima, čiji se princip rada zasniva na oponašanju pojava i procesa u prirodi, moguće je rešiti kompleksne inženjerske optimizacione probleme. Problem uravnoteženja ravanskih mehanizama rešen je primenom dva optimizaciona algoritma: subpopulacijskog algoritma svica (SP-FA) koji predstavlja poboljšanu verziju standardnog algoritma svica i hibridnog algoritma svica i kukavičje pretrage (H-CS-FA) koji predstavlja kombinaciju dva biološki inspirisana algoritma. Postupak analize mehanizama proširen je zatim i na mehanizme sa elastičnim članovima. Predstavljen je nov pristup u dinamičkoj analizi mehanizama sa elastičnim članovima koji se temelji na mehanici sistema krutih tela. Detaljno je objašnjen postupak diskretizacije elastičnih članova u cilju dobijanja što tačnijeg dinamičkog modela. Takođe, prikazan je postupak određivanja reakcija veza kod manipulatora sa jednim elastičnim članom. Na kraju, proces projektovanja mehanizama zaokružen je procesom optimalne sinteze podesivih ravanskih mehanizama kao generatora putanje. Cilj je optimizovati putanju (koja je zadata istim skupom tačaka), koju generišu različiti tipovi ravanskih mehanizama. U postupku optimalne sinteze primenjen je algoritam sivog vuka (GWO) koji takođe pripada klasi biološki inspirisanih algoritama. Efikasnost algoritma testirana je na odgovarajućim numeričkim primerima.sr
dc.description.abstractIn the thesis, three different methods are proposed to achieve the balancing of planar mechanisms with rigid links. By adding counterweights, using interpolating polynomials and by applying optimization methods, dynamic load is reduced ie. balancing of mechanisms is achieved. In order to determine the dynamic load, it is necessary to perform the kinematic and dynamic analysis of the mechanisms first. Joint reaction forces were determined by using a new method based on the use of the Lagrange equations with the multipliers, velocity transformations and the equimomental system representation of the links of the mechanism. Through the corresponding numerical examples, the efficiency of the proposed methods for balancing the mechanisms was shown. The emphasis is on the application of modern biologically inspired optimization algorithms that have emerged in the last fifteen years. With these simple algorithms, whose work principle is based on mimicking phenomena and processes in nature, it is possible to solve complex engineering optimization problems. The problem of balancing of planar mechanisms was solved by using two optimization algorithms: a subpopulation firefly algorithm (SP-FA) that represents an improved version of the standard firefly algorithm and hybrid cuckoo search and firefly algorithm (H-CS-FA) which represents a combination of two biologically inspired algorithms. The analysis process of the mechanisms was then extended to mechanisms with flexible links. A new approach to the dynamic analysis of mechanisms with flexible links which is based on rigid multibody systems has been presented. The process of discretization of flexible links is explained in detail, in order to obtain a more accurate dynamic model. Also, the procedure for determining the joint reaction forces in the manipulator with one flexible link is shown. Finally, the process of designing the mechanisms is rounded up by the process of optimal synthesis of adjustable planar mechanisms as a path generator. The goal is optimization of the same path (given by the same set of points), which is generated by different types of planar mechanisms. A gray wolf algorithm (GWO) which also belongs to the class of biologicallyinspired algorithms is applied in the process of optimal synthesis. The efficiency of the algorithm was tested on the corresponding numerical examples.en
dc.formatapplication/pdf
dc.languagesr
dc.publisherУниверзитет у Крагујевцу, Факултет за машинство и грађевинарство, Краљевоsr
dc.rightsopenAccessen
dc.sourceУниверзитет у Крагујевцуsr
dc.subjecturavnoteženje mehanizamasr
dc.subjectbalancing of mechanismsen
dc.subjectbiloški inspirisani algoritmisr
dc.subjectkinematička i dinamička analizasr
dc.subjectoptimalna sinteza mehanizamasr
dc.subjectmehanizmi sa elastičnim članovimasr
dc.subjectbiologically-inspired algorithmsen
dc.subjectkinematic and dynamic analysisen
dc.subjectoptimal synthesis of adjustable mechanismsen
dc.subjectflexible mechanismsen
dc.titleSavremeni pristupi u kinematičkoj i dinamičkoj optimizaciji ravanskih mehanizamasr
dc.typedoctoralThesisen
dc.rights.licenseBY-NC-SA
dc.identifier.fulltexthttp://nardus.mpn.gov.rs/bitstream/id/47804/Disertacija.pdf
dc.identifier.fulltexthttp://nardus.mpn.gov.rs/bitstream/id/47805/Izvestaj Komisije-MarinaBoskovic Masinski Kraljevo.pdf


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