Przeglądaj {{ collection }} wg Autor "Szumiński, Przemysław"

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  • Pozycja
    Energy method for position stability analysis of critical points of robot manipulators.
    (Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej, 2004) Szumiński, Przemysław; Kapitaniak, Tomasz; Stefański, Andrzej
    An energy method for the position stability analysis of critical points (equilibrium positions) of dynamical systems with an arbitrary finite number of degrees of freedom is presented. The method proposed consists in the analysis of the potential energy balance of a perturbation of an arbitrary number of generalised co-ordinates of the dynamical system in order to establish the energy stability of individual degrees of freedom and of the whole system. In the case of mechanical systems, the position stability criterion, understood as minimisation of loads of driving systems with conservative forces, is discussed. Some examples of application of the method to the position stability analysis of critical points of one- and two-degree-of-freedom systems are analysed.
  • Pozycja
    Perturbation Method in the Analysis of Manipulator Inertial Vibrations
    (Wydawnictwo Politechniki Łódzkiej ; Katedra Dynamiki Maszyn - Wydział Mechaniczny Politechniki Łódzkiej, 2011) Szumiński, Przemysław
    An analysis of inertial component of mechanical vibrations induced during a motion of the MAR industrial manipulator is presented. The mathematical analysis of vibrations is based on the perturbation method. The presented considerations include an analytical description of inertial vibrations as well as results of the numerical analysis for the RPP type manipulator.