A Methodology of Orthopaedic Measurement Arm Workspace Determination.
Ładowanie...
Data
2017
Tytuł czasopisma
ISSN czasopisma
Tytuł tomu
Wydawca
Lodz University of Technology. Faculty of Mechanical Engineering. Department Division of Dynamics.
Wydawnictwo Politechniki Łódzkiej. Wydział Mechaniczny. Katedra Dynamiki Maszyn.
Wydawnictwo Politechniki Łódzkiej. Wydział Mechaniczny. Katedra Dynamiki Maszyn.
Abstrakt
This paper outlines general assumptions of work principle of displacement measuring arm that bases on accelerometers. Symbolic representation of arm’s kinematic structure is shown. Also, an analysis of construction correctness has been verified in terms of the effectiveness of using accelerometers to measure individual links displacements. A method of acquiring information on workspace is presented. The workspace has been determined in two variants: without considering last link orientation and for given orientation of that link. Paper also describes a determination method of increments values of angular displacements for individual links of the arm in terms of obtained proper results and rational computation time of workspace scanning algorithm. Finally, there is a presentation of method for determining a cuboid space for arm accuracy and repeatability measurement in XYZ coordinate system.
Opis
Słowa kluczowe
arm kinematic, workspace, accelerometers, ramię kinematyki, przyspieszeniomierze, akcelerometry, przestrzeń robocza
Cytowanie
Mechanics and Mechanical Engineering Vol. 21, No. 2, 2017, str. 185–191