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Accuracy and Repeatability Tests on 6D Measurement Arm.
(Lodz University of Technology. Press - Faculty of Mechanical Engineering. Department Division of Dynamics., 2017) Rakowski, Piotr; Kobierska, Agnieszka; Podsędkowski, Leszek; Poryzała, Paweł
We present kinematic structure of measurement arm along with its construction restrainsoriginating from using only accelerometers for determining relative positions of links. Method of calculating position of arm's end in relation to its base basing on orientation of individual links is presented. Accuracy and repeatability tests were performed using custom made test stand. The description of test stand, measurements procedures for last link changing its position in Cartesian directions and orientation in vertical axis is also included in the paper. These changes were justified in context of links orientation in relations to global coordinate system. Obtained tests results are presented and analyzed.
A Methodology of Orthopaedic Measurement Arm Workspace Determination.
(Lodz University of Technology. Faculty of Mechanical Engineering. Department Division of Dynamics., 2017) Kobierska, Agnieszka; Podsędkowski, Leszek; Rakowski, Piotr; Rejmonczyk, Szymon; Kaszowski, Jakub; Olejniczak, Kacper; Golasiński, Bartłomiej; Kaczmarek, Kamil
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.