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http://yadda.icm.edu.pl:80/baztech/element/bwmeta1.element.baztech-3609753f-62b9-43e3-8aaa-2d1dfe459418

Czasopismo

Machine Dynamics Research

Tytuł artykułu

Selection of Drives for Orthotic Robot Based on Simulation Studies

Autorzy Bagiński, K.  Wierciak, J. 
Treść / Zawartość http://www.simr.pw.edu.pl/ipbm/Instytut-Podstaw-Budowy-Maszyn/Nauka/Machine-Dynamics-Research
Warianty tytułu
Języki publikacji EN
Abstrakty
EN Orthotic robots seem to be very sophisticated mechatronic devices as they are expected to reflect natural movements of human limbs. Drive systems in such robots are subjected to active, frictional and inertial loads varying significantly. This eliminates possibility of using traditional algorithms of designing drives. When selecting electric drives for robot designed for people with paraplegia a special method was developed and used. It employs computer simulation in two phases of design. First it is used to determine the actual demand for driving torque during the gait cycle. Then, each of the preselected motors is tested by means of simulation in order to verify, whether it meets the formulated functional and operational requirements. In the paper details of simulation software as well as exemplary results of tests are presented.
Słowa kluczowe
EN orthotic robots   wearable robots   electric drives for robot   human gait  
Wydawca Oficyna Wydawnicza Politechniki Warszawskiej
Czasopismo Machine Dynamics Research
Rocznik 2012
Tom Vol. 36, No. 1
Strony 5--14
Opis fizyczny Bibliogr. 9 poz., rys., wykr.
Twórcy
autor Bagiński, K.
  • Warsaw University of Technology. Institute of Micromechanics and Photonics
autor Wierciak, J.
Bibliografia
Bagiński, K., Wierciak, J., Jasińska-Choromańska, D., 2011, Simulation model of actuators of an orthotic robot (original title in Polish: Symulacyjny model układów wykonawczych robota ortotycznego), PAK 57, 583-586.
Isermann, R., 2005, Mechatronic Systems - Fundamentals, Springer.
Kenjo, Т., Nagamori S., 1985, Permanent magnet and brushless DC motors, Clarendon Press, Oxford.
Pons, J. L., 2008, Wearable Robots: Biomechatronic Exoskeletons, John Wiley & Sons, Chichester.
Oleksiuk, W. (ed.), 1996, Design of precision instruments and devices (original title in Polish: Konstrukcja przyrządów i urządzeń precyzyjnych), WNT, Warsaw.
Wierciak, J., Jasińska-Choromańska, D., Szykiedans K., 2011, Orthotic Robot as a Mechatronic System, in Jabłoński R., Brezina T. (eds.), Mechatronics, Recent Technological and Scientific Advances, Springer, 579-588.
Żelazny M., 1976, Fundamentals of automation (original title in Polish: Podstawy automatyki), PWN, Warsaw.
Permanent magnet DC motors, Catalogue, DUNKERMOTOREN.
Ballscrews (complete program), Catalogue, HIWIN Lineartechnologie.
Kolekcja BazTech
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