Przegląd narzędzi stosowanych w pomiarach siłowników miękkich

Koter, Katarzyna; Dominik, Ilona; Zubrzycki, Igor

Artykuł - szczegóły

Tytuł artykułu

Przegląd narzędzi stosowanych w pomiarach siłowników miękkich

Autorzy

Koter Katarzyna , Dominik Ilona , Zubrzycki Igor

Identyfikatory

Warianty tytułu

Review of tools used in the soft actuators measurements

Języki publikacji

Abstrakty

Praca przedstawia przegląd literatury dotyczącej stanowisk pomiarowych siłowników robotów miękkich, w celu określenia jakie parametry oraz metody pomiarowe pozwolą na odpowiednie zweryfikowanie ich cech. W przeglądzie skupiliśmy się głownie na siłownikach napędzanych pneumatycznie. W pracy przedstawiono stosowane najczęściej układy zasilania oraz elementy funkcjonalne stanowisk służące do pomiaru ciśnienia, siły, kąta i przemieszczenia. Opisano także programy i systemy sterowania wykorzystywane w stanowiskach pomiarowych. Na podstawie wykonanego przeglądu określiliśmy jakie elementy pneumatycznych stanowisk pomiarowych najczęściej występują w literaturze oraz jakie elementy składowe są niezbędne do zebrania danych potrzebnych do określenia charakterystyki badanych siłowników.

The paper presents a literature review of the soft pneumatic robot actuators measurement stations. The paper presents the most frequently used power supply systems and functional elements of the stands for measuring pressure, force, angle and displacement, the programs and control systems used in measuring stations are also described. On the basis of the performed review, we determined which components are necessary to collect the data needed to determine the characteristics of the tested actuators.

Słowa kluczowe

roboty medyczne roboty rehabilitacyjne siłownik miękki pomiar

medical robots rehabilitation robots soft actuator measurement

Wydawca

Oficyna Wydawnicza Politechniki Warszawskiej

Czasopismo

Prace Naukowe Politechniki Warszawskiej. Elektronika

Rocznik

2022

Tom

z. 197, t. 2

Strony

123--134

Opis fizyczny

Bibliogr.42 poz., eys., tab., wykr.

Twórcy

autor

Koter Katarzyna

Instytut Obrabiarek i Technologia Budowy Maszyn, Politechnika Łódzka

autor

Dominik Ilona

Zakład Sterowania Robotów, Instytut Automatyki, Politechnika Łódzka

autor

Zubrzycki Igor

Zakład Sterowania Robotów, Instytut Automatyki, Politechnika Łódzka

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).

Typ dokumentu

Bibliografia

Identyfikator YADDA

bwmeta1.element.baztech-f5600bbc-889b-4ef9-a86f-086424cf64cb