Β«ΠΠΎΠΊΠΎΡΡΡ Π²Π΅ΡΡΠΈΠ½Ρ Π·Π° Π²Π΅ΡΡΠΈΠ½ΠΎΠΉ, ΠΌΡ ΠΎΡΠΊΡΡΠ²Π°Π΅ΠΌ ΠΏΠΎΠ»Π½ΡΠ΅ Π²Π΅Π»ΠΈΠΊΠΎΠ»Π΅ΠΏΠΈΡ ΠΈ ΠΈΠ½ΡΠ΅ΡΠ΅ΡΠ° ΠΏΡΠΎΡΡΠΎΡΡ,
Π½ΠΎ ΠΌΡ Π½Π΅ Π²ΠΈΠ΄ΠΈΠΌ Π½Π°ΡΠ΅ΠΉ ΡΠ΅Π»ΠΈ, ΠΌΡ Π½Π΅ Π²ΠΈΠ΄ΠΈΠΌ Π³ΠΎΡΠΈΠ·ΠΎΠ½ΡΠ°;
Π²Π΄Π°Π»ΠΈ Π²ΠΎΠ·Π²ΡΡΠ°ΡΡΡΡ Π΅ΡΠ΅ Π±ΠΎΠ»Π΅Π΅ Π²ΡΡΠΎΠΊΠΈΠ΅ Π²Π΅ΡΡΠΈΠ½Ρ,
ΠΊΠΎΡΠΎΡΡΠ΅ ΠΎΡΠΊΡΠΎΡΡ ΡΠ΅ΠΌ, ΠΊΡΠΎ Π²Π·ΠΎΠΉΠ΄Π΅Ρ Π½Π° Π½ΠΈΡ
,
Π΅ΡΠ΅ Π±ΠΎΠ»Π΅Π΅ ΡΠΈΡΠΎΠΊΠΈΠ΅ ΠΏΠ΅ΡΡΠΏΠ΅ΠΊΡΠΈΠ²Ρ ΠΈ ΡΠ³Π»ΡΠ±ΡΡ ΡΡΠ²ΡΡΠ²ΠΎ,
ΠΈΡΡΠΈΠ½Π½ΠΎΡΡΡ ΠΊΠΎΡΠΎΡΠΎΠ³ΠΎ ΠΏΠΎΠ΄ΡΠ΅ΡΠΊΠΈΠ²Π°Π΅ΡΡΡ ΠΊΠ°ΠΆΠ΄ΡΠΌ Π΄ΠΎΡΡΠΈΠΆΠ΅Π½ΠΈΠ΅ΠΌ Π½Π°ΡΠΊΠΈ, ΡΡΠΎ
βΠΠ΅Π»ΠΈΠΊΠΈ Π΄Π΅Π»Π° ΠΠΎΡΠΏΠΎΠ΄Π½ΠΈβΒ».
ΠΠ½Π°ΡΠ³ΡΡΠ°ΡΠΈΠΎΠ½Π½Π°Ρ ΡΠ΅ΡΡ Π½Π° Π΅ΠΆΠ΅Π³ΠΎΠ΄Π½ΠΎΠΌ ΡΠΎΠ±ΡΠ°Π½ΠΈΠΈ ΠΡΠΈΡΠ°Π½ΡΠΊΠΎΠΉ ΠΠ°ΡΡΠ½ΠΎΠΉ ΠΡΡΠΎΡΠΈΠ°ΡΠΈΠΈ ΠΏΡΠΎΡ.
ΡΡΡΠ° ΠΠΆΠΎΠ·Π΅ΡΠ° ΠΠΆΠΎΠ½Π° Π’ΠΎΠΌΡΠΎΠ½Π°
26 Π°Π²Π³ΡΡΡΠ° 1909 Π³.
Python library for modeling dynamic (now only static) of flexible mechanisms. Useful for robotics application.
There is pipline for future development and equations derivation: MODELING_WITH_DAMPING.md. To correct view formulas you should use logseq.
If you want use MATLAB SPACAR package to compare the results you need MATLAB.
Was tested with 2023a version.
First need to setup conda environment:
conda env create --file dynastatflex.yml -n dynastatflex
If you using VSC, then reload it. Choose dynastatflex environment.
If you want to update conda env with .yml file type in Command Prompt:
conda env update --file dynastatflex.yml --prune
[1] Huber G, Wollherr D and Buss M (2021) A Concise and Geometrically Exact Planar Beam Model for Arbitrarily Large Elastic Deformation Dynamics. Front. Robot. AI 7:609478. doi: 10.3389/frobt.2020.609478. link=https://www.frontiersin.org/articles/10.3389/frobt.2020.609478/full