Materiały konferencyjne, referaty (WM)

Stały URI dla kolekcjihttp://hdl.handle.net/11652/163

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20212

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Autorsearch.filters.applied.operator.equals: search.filters.author.Grzelczyk, DariuszData rozpoczęcia: 2020

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Teraz wyświetlane 1 - 2 z 2
  • Pozycja
    Design and simulation of a lower limb exoskeleton with linear electric actuators
    (Wydawnictwo Politechniki Łódzkiej, 2021) Grzelczyk, Dariusz; Jarzyna, Olga; Awrejcewicz, Jan
    In the present study, we proposed and investigated a relatively simple and inexpensive construction of a lower limb exoskeleton driven by linear electric actuators and controlled by an Arduino microcontroller board. Moreover, to study crucial kinematic and dynamic parameters of the proposed device, we developed a general, three-dimensional simulation model of the exoskeleton in Mathematica software. To control individual joints of the investigated exoskeleton, we employed time histories of human joint angles in normal gait, recorded with the use of a motion capture system. As a result, we developed a novel human gait generator, which can be used to produce rhythmic movements in hip, knee and ankle joints of both limbs. Finally, the developed control approach was verified with the use of the constructed prototype of the exoskeleton.
  • Pozycja
    Research of the dynamics of a physical pendulum forced with an electromagnetic field
    (Wydawnictwo Politechniki Łódzkiej, 2021) Ogińska, Ewelina; Grzelczyk, Dariusz; Awrejcewicz, Jan
    In this paper, both experimental and numerical results of the dynamics of a pendulum with a neodymium magnet and an aerostatic bearing are presented. The experimental stand includes the pendulum with the neodymium magnet at the end of the rod, whereas four electric coils are placed underneath. The pivot of the pendulum is supported on the aerostatic bearing. As a result, dry friction resistance in the pivot joint can be negligible and it has only a viscous character. The electric current with a given frequency and duty cycle and of a square waveform flows through the coils. Interaction between the neodymium magnet and the electric coils leads to the forced angular motion of the pendulum with the neodymium magnet. Both mathematical and physical models with experimentally confirmed system parameters are derived. The results of the simulation and experiment showed rich dynamics of the system, including various types of regular motion (multi-periodicity) and chaos.