Mоlimо vаs kоristitе оvај idеntifikаtоr zа citirаnjе ili оvај link dо оvе stаvkе:
https://open.uns.ac.rs/handle/123456789/12052
Nаziv: | Dynamic Analysis and Motion Simulation of the 3 DOFs Waist Mechanism for Humanoid Robots | Аutоri: | Penčić, Marko Brkić, Boris Čavić, Maja Rackov, Milan |
Dаtum izdаvаnjа: | 1-јан-2020 | Čаsоpis: | Mechanisms and Machine Science | Sažetak: | © 2020, Springer Nature Switzerland AG. The paper presents the dynamic analysis and motion simulation of the waist mechanism meant for humanoids. The proposed waist mechanism has a total of 3 DOFs, allowing movements of the robot’s upper trunk around the pitch, roll and yaw axes. Within the dynamic analysis, the decomposition of the waist mechanism is performed and for each link of the mechanism, motion equations are formed. Reactions in the mechanism links are determined by using D’Alembert’s principle and based on those, the equations for calculating of the driving forces are defined. Finally, the dynamic model of the waist mechanism was formed and a motion simulation for several scenarios was performed. Based on the analysis of the results, it was concluded that the waist mechanism requires small driving torques and therefore less and cheaper actuators, which is an important advantage of this solution. | URI: | https://open.uns.ac.rs/handle/123456789/12052 | ISSN: | 22110984 | DOI: | 10.1007/978-3-030-30036-4_6 |
Nаlаzi sе u kоlеkciјаmа: | FTN Publikacije/Publications |
Prikаzаti cеlоkupаn zаpis stаvki
Prеglеd/i stаnicа
31
Prоtеklа nеdеljа
6
6
Prоtеkli mеsеc
0
0
prоvеrеnо 10.05.2024.
Google ScholarTM
Prоvеritе
Аlt mеtrikа
Stаvkе nа DSpace-u su zаštićеnе аutоrskim prаvimа, sа svim prаvimа zаdržаnim, оsim аkо nije drugačije naznačeno.