Autor: Knapczyk, M. - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Stiffness Matrix Analysis of Six-Revolute Serial Manipulator
Autorzy:: Knapczyk, J.
Ryska, M.
Powiązania:: https://bibliotekanauki.pl/articles/387089.pdf
Data publikacji:: 2012
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: manipulator szeregowy
jakobian
kartezjańska macierz sztywności
serial manipulator
Jacobian matrix
cartesian stiffness matrix
Opis:: This paper presents a simple procedure that can be used to determine the stiffness matrix of 6R serial manipulator in selected points of the work space with joint stiffness coefficients taking into account. Elastokinematical model for the robot manipulator FANUC S-420F was considered as spatial and serial kinematical chain composed of six rigid links, connected by ideal revolute joint (without clearances and deformable elements), with torsion elasticity of the joint drive system (relative torsion deformations are proportional to acted torques) taking into account. Assumed model is used for displacement analysis of the end-effector for a given applied force in quasi-static condition. The analysis results are presented as Cartesian stiffness matrix of studied manipulator.
Źródło:: Acta Mechanica et Automatica; 2012, 6, 2; 62-65
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 2.

Tytuł:: Displacement analysis of the human knee joint based on the spatial kinematic model by using vector method
Autorzy:: Knapczyk, J.
Góra-Maniowska, M.
Powiązania:: https://bibliotekanauki.pl/articles/386514.pdf
Data publikacji:: 2017
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: human knee joint model
kinematic analysis
parallel mechanism
constraint equations
vector method
Opis:: Kinematic model of the human knee joint, considered as one-degree-of-freedom spatial parallel mechanism, is used to analyse the spatial displacement of the femur with respect to the tibia. The articular surfaces of femoral and tibia condyles are modelled, based on selected references, as spherical and planar surfaces. The condyles are contacted in two points and are guided by three ligaments modelled as binary links with constant lengths. In particular, the mechanism position problem is solved by using the vector method. The obtained kinematic characteristics are adequate to the experimental results presented in the literature. Additionally, the screw displacements of relative motion in the knee joint model are determined.
Źródło:: Acta Mechanica et Automatica; 2017, 11, 4; 322-327
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

Artykuł

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