Design of linear actuator for parallel kinematic structure is described in this master´s thesis. The parallel kinematic structure is described in the first part. Open kinematics structure and close kinematics structure are compared. Their benefits and disadvantages are also mentioned. Construction of some parallel robots is illustrated. Linear actuators of different company are described. Mechanical parameters and construction of linear actuator are compared. Design of linear actuator is described in practical part of master´s thesis. A few variation of linear actuator are introduced. Individual variants are evaluated by Multicriteria Decisional Analysis and a final conception is selected. Final conception of linear actuator is elaborated. Reasons for selection of every part of linear actuator are given and basic mechanical calculation design part is made. FEA analysis of the structural part of linear actuator is made. Design of linear actuator is evaluated in the final part.

The diploma thesis includes design of vertical CNC milling machine. It also includes research in the field of CNC milling machines on the world market, which is carried out to select the appropriate machine parameters and the structural configuration of the machine. Another part of the thesis deals with the selection of suitable components, design calculations, manufacturing drawings and the 3D model showing the final design solution of proposed machine.

In this thesis, techniques for testing aircraft models in ground effect in a low speed wind tunnel are investigated. Although these types of tests have been done before, the current study is unique in that forces are measured with an overhead balance instead of an internal balance. This has the advantage that the types of models that are difficult to mount on a sting with an internal balance, can often be mounted with a strut protruding from the top of the model. Positioning a sting-mounted model close to the ground at a high angle-of-attack is also usually difficult if not impossible. Finally, drag measurements are often more accurate when measured with an overhead balance rather than with an internal sting-type balance. The disadvantages associated with this method of testing are identified and solutions suggested. These include accurate moment transfers and correcting for support tares and interference. The thesis also investigates general procedures associated with ground effect testing such as proper boundary corrections and the necessity of a rolling floor. A simplified preliminary test series was performed in order to identify shortcomings in the existing equipment and procedures. This series is explained in Chapter 2. Chapter 4 and 5 describe changes made to the existing equipment following this test series. These include a novel telescopic fairing to shroud the mounting strut and an internal pitching mechanism. The correction techniques and general theory are summarised in Chapter 3. The author concludes in Chapter 6 that with the application of the techniques described in this thesis, the test engineer should be able to obtain accurate and reliable data from most aircraft configurations. Additional suggestions for testing models in ground effect are also given in this chapter. Finally, a few shortcomings that still need to be investigated are mentioned at the end of Chapter 6. AFRIKAANS : Hierdie verhandeling ondersoek tegnieke om vliegtuigmodelle in grondeffek in 'n laespoed-windtonnel te toets. Alhoewel hierdie tipe van toetse al voorheen gedoen is, is die huidige studie uniek deurdat 'n oorhoofse balans eerder as 'n interne balans gebruik word. Die voordeel hiervan is dat modelle wat moeilik op 'n naald- of "sting"-balans monteer kan word, baie keer makliker monteer kan word met 'n stang wat deur die bokant van die model steek. Posisioneering van 'n naald-gemonteerde model naby aan die vloer van die tonnel by hoe invalshoeke is gewoonlik ook baie moeilik indien nie onmoontlik nie. Laastens is sleurkrag-metings wat met 'n oorhoofse balans gemeet is gewoonlik meer akkuraat as sleurkrag-metings wat met 'n interne naald-tipe balans gedoen is. Die nadele wat met hierdie toetsmetode geassosieer kan word, word geïdentifiseer en moontlike oplossing word voorgestel. Hierdie sluit die berekening in van akkurate moment-transformasies en monteersleureffekte en -steurings. Die verhandeling ondersoek ook algemene prosedures wat met grondeffektoetse geassosieer kan word, byvoorbeeld akkurate wandkorreksies en die nodigheid van die rolvloer. 'n Vereenvoudigde vooraf-toetsreeks was uitgevoer om moontlike tekortkominge in die bestaande toerusting en prosedures te identifiseer. Hierdie toetsreeks word in Hoofstuk 2 bespreek. Hoofstuk 4 en 5 verduidelik die veranderinge wat aan die bestaande toerusting gemaak is na aanleidng van hierdie toetsreeks. Hierdie veranderinge sluit 'n teleskopiese windskerm in om die monteerstang te isoleer van die wind, sowel as 'n interne heimeganisme om die invalshoek van die model te verstel. Die korreksieprosedures en algemene teorie word in Hoofstuk 3 opgesom. Die outeur se gevolgtekking in Hoofstuk 6 stel dat die toetsingenieur, met behulp van die gebruik van die tegnieke in hierdie verhandeling beskryf, in staat behoort te wees om betroubare metings te kan neem van meeste vliegtuigkonfigurasies. Verdere voorstelle vir die toets van modelle in grondeffek word ook in hierdie hoofstuk gemaak. Uiteindelik word 'n paar tekortkominge genoem wat moontlik in 'n toekomstige studie ondersoek kan word. / Dissertation (MEng)--University of Pretoria, 1999. / Mechanical and Aeronautical Engineering / unrestricted

The trend of offshore wind power is bigger and bigger wind turbines. Turbines are now becoming so big that existing installation vessels no longer are feasible and new bigger installation vessels are needed. Ship owners hesitate to order new vessels worried that the rapid turbine growth will continue and make also the new vessels obsolete in a few years. This can create a bottleneck in the offshore wind market.   This thesis assignment attempts to develop a telescopic tower as an alternative way of installing offshore wind turbines. A telescopic tower can decrease overall height and COG during marine installation, giving opportunity to install the largest wind turbines also with existing vessel fleet.   The method for developing the telescopic tower is to first find the main problems and functions of the concept. A design basis based on a 12 MW reference wind turbine is developed. Based on this reference turbine different solutions to the main problems and functions are developed by creative thinking, literature research, modelling, calculations and analysis. A cost/benefit analysis is performed to investigate if there is any economic potential in the developed solution. To complete the study other installation methods and telescopic tower concepts are investigated for benchmark comparison.   The telescopic tower will have two sections. Shoulders are welded to the inner wall of the lower tower. The upper tower fit inside the lower tower and a telescopic mechanism is installed below to lift the assembly as the mechanism climb the shoulders of the lower tower. The telescopic mechanism works much like a pin and hole mechanism used for jack-up rigs. The pins engage/disengage with the shoulders by the movement of linear actuators. The vertical climbing motion is provided by hydraulic cylinders. The power source is an HPU placed on the wind turbine external platform.   To connect the upper and lower tower permanently a friction connection with long slotted holes is used. This connection is developed for assembly of onshore towers in an EU-sponsored project called Histwin. The walls of the lower and the upper tower overlap at the connection and are pressed together by pretensioned bolts to create a friction surface that hold the loads from the upper tower.   The conclusion is that the telescopic tower is technically feasible and can be installed by the existing installation vessel fleet. The economic feasibility is dependent on the specific project characteristics, but there are scenarios where the telescopic tower can have great economical upside.

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