Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working Area
More and more commonly, manipulators and robots equipped with effectors are used to replace humans in the implementation of tasks that require significant working abilities or are used in dangerous zones. These constructions have considerable ranges and are capable of carrying heavy loads. The speci...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-08-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/15/8908 |
| _version_ | 1797587052602064896 |
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| author | Piotr Krogul Karol Cieślik Marian Janusz Łopatka Mirosław Przybysz Arkadiusz Rubiec Tomasz Muszyński Łukasz Rykała Rafał Typiak |
| author_facet | Piotr Krogul Karol Cieślik Marian Janusz Łopatka Mirosław Przybysz Arkadiusz Rubiec Tomasz Muszyński Łukasz Rykała Rafał Typiak |
| author_sort | Piotr Krogul |
| collection | DOAJ |
| description | More and more commonly, manipulators and robots equipped with effectors are used to replace humans in the implementation of tasks that require significant working abilities or are used in dangerous zones. These constructions have considerable ranges and are capable of carrying heavy loads. The specificity of the tasks performed with the use of mentioned devices requires their control by a human. Intuitive tracking systems are used to control them. Problems in their use result from the kinematic amplification between the effector and the operator’s hand. Proper design of the drive and control systems for these manipulators requires knowledge of the maximum velocities of the manipulator’s effectors, which significantly depend on the scale ratio. The article presents the results of the effector’s velocity movements while performing a specific task by the operator’s hand with different velocities and scale ratios. |
| first_indexed | 2024-03-11T00:31:47Z |
| format | Article |
| id | doaj.art-e3a5da2657984a14b6b7bb871e1c907b |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T00:31:47Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-e3a5da2657984a14b6b7bb871e1c907b2023-11-18T22:39:08ZengMDPI AGApplied Sciences2076-34172023-08-011315890810.3390/app13158908Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working AreaPiotr Krogul0Karol Cieślik1Marian Janusz Łopatka2Mirosław Przybysz3Arkadiusz Rubiec4Tomasz Muszyński5Łukasz Rykała6Rafał Typiak7Faculty of Mechanical Engineering, Military University of Technology, 00-908 Warsaw, PolandFaculty of Mechanical Engineering, Military University of Technology, 00-908 Warsaw, PolandFaculty of Mechanical Engineering, Military University of Technology, 00-908 Warsaw, PolandFaculty of Mechanical Engineering, Military University of Technology, 00-908 Warsaw, PolandFaculty of Mechanical Engineering, Military University of Technology, 00-908 Warsaw, PolandFaculty of Mechanical Engineering, Military University of Technology, 00-908 Warsaw, PolandFaculty of Mechanical Engineering, Military University of Technology, 00-908 Warsaw, PolandFaculty of Mechanical Engineering, Military University of Technology, 00-908 Warsaw, PolandMore and more commonly, manipulators and robots equipped with effectors are used to replace humans in the implementation of tasks that require significant working abilities or are used in dangerous zones. These constructions have considerable ranges and are capable of carrying heavy loads. The specificity of the tasks performed with the use of mentioned devices requires their control by a human. Intuitive tracking systems are used to control them. Problems in their use result from the kinematic amplification between the effector and the operator’s hand. Proper design of the drive and control systems for these manipulators requires knowledge of the maximum velocities of the manipulator’s effectors, which significantly depend on the scale ratio. The article presents the results of the effector’s velocity movements while performing a specific task by the operator’s hand with different velocities and scale ratios.https://www.mdpi.com/2076-3417/13/15/8908manipulator controlhuman hand movementseffector velocityoperator perceptionsize ratio |
| spellingShingle | Piotr Krogul Karol Cieślik Marian Janusz Łopatka Mirosław Przybysz Arkadiusz Rubiec Tomasz Muszyński Łukasz Rykała Rafał Typiak Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working Area Applied Sciences manipulator control human hand movements effector velocity operator perception size ratio |
| title | Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working Area |
| title_full | Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working Area |
| title_fullStr | Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working Area |
| title_full_unstemmed | Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working Area |
| title_short | Experimental Research on the Influence of Size Ratio on the Effector Movement of the Manipulator with a Large Working Area |
| title_sort | experimental research on the influence of size ratio on the effector movement of the manipulator with a large working area |
| topic | manipulator control human hand movements effector velocity operator perception size ratio |
| url | https://www.mdpi.com/2076-3417/13/15/8908 |
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