Temat: jacobian matrix - 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:: Loads of Lower Limb Joints During Bicycle Ride
Autorzy:: Stępniewski, A.
Powiązania:: https://bibliotekanauki.pl/articles/386979.pdf
Data publikacji:: 2012
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: rower
metoda macierzowa
kończyna dolna
analiza statyczna
jakobian
bicycle
lower limb
movement geometry
matrix method
static analysis
Jacobian
Opis:: This work features a geometric and static analysis of the lower limb during bicycle ride. Basic dimensions are indicated, which are necessary for the description of movement geometry. The simplified flat model was adopted for the analysis. Using the transformation of Denavit-Hartenberg frames, vectors were developed for the position of the rotation axis of the joints in immovable frame. The inverse kinematics problem was solved. The course of displacement changes in the ankle joint was adopted as an angle function for crankset position, based on experimental research results, published in professional literature. The course was approximated with fifth grade polynomial. Joint displacements and loads were established. A sample calculation is presented, illustrating the subject computational algorithm.
Źródło:: Acta Mechanica et Automatica; 2012, 6, 2; 84-87
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

Artykuł

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