INSTITUTUE OF TECHNOLOGY PHNOM PENH (CAMBODIA) PHNOM PENH Cambodia
This report presents kinematic, inverse kinematic, dynamic modeling and simulation for a Solar-Tracker-Mounted UAV system. Kinematic and inverse kinematic for the tracker is briefly described using classical methods. Dynamic modeling for the system is one of the most challenging engineering problems. To deal with it, kinematic constraints of all joints are determined. Undetermined close form reaction forces at joints are obtained from the kinematic constraints. Using Newtons method, a dynamic equation for each body exerted by external forces and reaction forces is formulated. A fully determined equation, which is a system of algebraic-differential equations, is obtained by appending kinematic and dynamic equations. Simulation for a parallel-mechanism-mounted UAV can describe the position of all bodies in the whole system. From the result, there are three cases to discuss. Three case studies are illustrated.