- Tytuł:
- The Joint Vibration Analysis of a Multi-Link Surgical Manipulator
- Autorzy:
-
Leniowska, L.
Leniowski, R. - Powiązania:
- https://bibliotekanauki.pl/articles/176656.pdf
- Data publikacji:
- 2012
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
joint vibration
joint model
friction model
surgical manipulator - Opis:
- This paper presents a vibration analysis of a multi-link surgical micromanipulator joint, based on its detailed mathematical model. The manipulator’s prototype contains 6 links with the diameter of 8–10 [mm] and with the length of the modules of about 130 [mm]. It is driven by brushless servomotors with worm and planetary gears, for which the total transmission ratio is above 1/10000. Regarding the low efficiency of micro-robot drive systems and its vibrations, a reliable joint model and its performance is crucial for the development of a high-precision control system. To achieve the required accuracy, modelling framework has been enriched with an advanced model of friction. Simulation results are presented and discussed.
- Źródło:
-
Archives of Acoustics; 2012, 37, 4; 475-482
0137-5075 - Pojawia się w:
- Archives of Acoustics
- Dostawca treści:
- Biblioteka Nauki