Faculty of Mechanical Engineering

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Author: search.filters.author.Hristijan Mickoski

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    Mathematical Modelling of Work of Modern Friction-Polymer Shock Absorbers and Determining the Dynamical Force during Impact
    (2015)
    Hristijan Mickoski
    ;
    Ivan Mickoski
    ;
    Petar Simonovski
    Shock absorbers are main elements into construction of train wagons that secure protection from longitudinal forces which appear during transitional regimes of movement. Besides, development of new constructive solutions for shock absorbers is quite popular development of their working mathematical models. This paper presents modern shock absorber with elastic block made from polymer elements that increase quantity of absorbed energy. This is achieved by increasing the stiffness characteristic of polymer elastic block. The construction is relatively simple and technology used to create the construction is with more or less low price. If there is not enough elastic stiffness of the polymer block, there is a possibility for not meeting the UIC (International Union of Railways) norms for absorbed energy. Therefore, according to the mentioned characteristic, shock absorbers are divided into three groups. The mathematical model presented in this paper allows calculating the necessary elastic characteristic of the polymer block for a short time. Differential equation of movement of the shock absorber elements is presented in this paper. Force change of polymer block for various impact velocities participates in the differential equation of movement where initial velocity V0 and the current meaning of the velocity are taken into consideration. The presented equation is solved by using program language MATLAB/Simulink by developing a simulation model.
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    Kinematic model analysis of a parallel manipulator with six and three degrees of freedom
    (2019)
    Dejan Jovčevski
    ;
    Marjan Dzidrov
    ;
    Hristijan Mickoski
    Model analysis of mechanism with parallel structurewith revolute kinematic pairs by six and three degrees of freedom is presented. An analytical method for solving the direct kinematics is analyzed by using analytic equations of the plane in which the movable platform of the manipulator is placed. The obtained solutions cannot be physically realized from a constructive aspect, therefore a method is proposed by simulation modellingin Matlab/Simulink andSolidWorkswhere certain constrains can be made. Respectively,this applesto the angles of rotation of kinematic revolute pairs and changes in certain dimensions, specifically the kinematics and also following the operation functionalities of the manipulator in 3D workspace.Additionally, as well through conducted PID control, the related difficulties in the analytical solution of nonlinear equations can be overcome.
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    CAD modeling of parallel robot(tripod) in matlab/simulink
    (2019)
    Maja Anachkova
    ;
    Hristijan Mickoski
    The purpose of this paper is to create a model simulation of a parallel robot with PID controller using the programming package Matlab/ Simulink. In this paper, forward and inverse kinematics of parallel robot tripod is presented; model of the parallel robot in the programming package Solid Works is constructed; simulation model of the parallel robot tripod is made by conversion from Solid Works to Matlab/Simulink and results for velocities and accelerations in its kinematic joints are obtained that serve to the management and control of the mobile platform as a major problem in the construction of a parallel robot. Model simulation of parallel robot will be the basis for creating models of parallel robots with more complex structure, detailed understanding of their kinematics and control design as an inevitable part of the future of robotics and mechatronic.