Instytut Podstawowych Problemów Techniki
Polskiej Akademii Nauk

Pracownicy

mgr inż. Elżbieta Zawidzka

Zakład Technologii Inteligentnych (ZTI)
doktorantka
telefon: (+48) 22 826 12 81 wewn.: 221
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Ostatnie publikacje
1.  Zawidzka E., Kiński W., Zawidzki M., Preliminary prototype of a 4-unit arm-Z hyper-redundant modular manipulator, Advances in Intelligent Systems and Computing, ISSN: 2194-5357, DOI: 10.1007/978-3-030-74893-7_27, pp.285-294, 2021

Streszczenie:
Arm-Z is a concept of a robotic manipulator comprised of linearly joined congruent modules with possibility of relative twist. The advantages of Arm-Z are: economization (mass-production) and robustness (modules which failed can be replaced, also if some fail the system can perform certain tasks). Non-intuitive and difficult control are the disadvantages of Arm-Z. It has been introduced over six years ago. The theretofore research focused on the control of the virtual Arm-Z manipulator through the relative twists of its constituent units. This paper documents the fabrication and testing of the preliminary physical prototype of a simple Arm-Z, which has been built using relatively low-tech approach. The modules have been assembled from 3D-printed elements using PET-G filament. Each module is equipped with a transmission mechanism allowing to pre-set the spin of its twist (either positive/right or negative/left). Although the presented system is very simple it demonstrates certain meaningful kinematic actions and sets clear paths for the future research in the area of Extremely Modular Systems.

Słowa kluczowe:
extremely modular system, arm-Z, hyper-redundant manipulator, rapid prototyping, low-tech

Afiliacje autorów:
Zawidzka E. - IPPT PAN
Kiński W. - inna afiliacja
Zawidzki M. - IPPT PAN

Abstrakty konferencyjne
1.  Zawidzka E., Kiński W., Szklarski J., Zawidzki M., Arm-Z: a hyper-redundant modular inspection manipulator (for extreme environments), WEO 2021, 2nd Workshop on Engineering Optimization, 2021-10-07/10-08, Warszawa (PL), pp.1-3, 2021

Kategoria A Plus

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