Selection of Drives for Orthotic Robot Based on Simulation Studies

• Autorzy: Bagiński, K. , Wierciak, J.
• 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

• 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.

• Warsaw University of Technology. Institute of Micromechanics and Photonics,

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.
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• 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.
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• 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.