Selected parameter?s simulation research in a hydrostatic drive system for anthropomorphic manipulators used in transportation
DOI:
https://doi.org/10.24136/atest.2018.182Keywords:
simulation, research, hydrostatic drive system, transportationAbstract
The article compares anthropomorphic and industrial manipulators. The basic differences between these constructions are indicated, resulting both from the control method as well as the kinematic structure. Presented the method of developing the kinematic structure of the anthropomorphic manipulator as a construction similar to the human upper limb. An anthropomorphic manipulator model was developed based on accepted assemblies concerning a significant increase in human working capacity in the context of reloading and transport work. Simulation studies were carried out on the manipulator model developed in the aspect of determining selected hydro-static drive system parameters.
Downloads
References
Bartnicki A.,. Krogul P, Spadło K., Influence of an EOD Engineer Robot manipulator structure on the effector's accuracy using intuitive control system, 21st International Conference on Methods and Models in Automation and Robotics, pp. 1148-1153, Miedzyzdroje, Polska 2016.
Broszura informacyjna produktu Modu Man 100 firmy Nuclear
Liu D. and Todorov E., Hierarchical optimal control of a 7-
DOF arm model, IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning 1, 50–57, 2009.
Dreyfuss H., The Measure of Man a Women Human Factors in Design, New York (1960)
Friedman Diana C. W., Dosher J., Kowalewski T., Rosen J. Hannaford B., Automated toot handling for the trauma pod surgical robot, EEE International Conference on Robotics and Automation, Apr 10-14, 2007, Rome, Italy, pp. 1936-1941
Morecki A., Knapczyk J., Kędzior K., Teoria mechanizmów i manipulatorów. WNT, Warszawa, Polska, 2002.
Online: www.fanucrobotics.pl
Online: www.sarcos.com/?page_id=1409
Online: www.tmsuk.co.jp