Detail Analisis Kinematik dan Dinamik pada Upper-Limb Exoskeleton Bibliografi Author: MELLIYANTO, WILLIAM ; Kurniawan, Riccy (Advisor) Topik: Exoskeleton; Kinematic Analysis; Denavit Hartenberg Convention; Dynamic Analysis; Euler-Lagrange Bahasa: (ID )     Penerbit: Program Studi Teknik Mesin Fakultas Teknik Unika Atma Jaya     Tempat Terbit: Jakarta    Tahun Terbit: 2012     Jenis: Theses - Undergraduate Thesis Fulltext: William Melliyanto's Undergraduate Theses_2.pdf (843.2KB; 25 download) Ketersediaan Perpustakaan Pusat (Semanggi) Nomor Panggil: FTM-1990 Non-tandon: tidak ada Tandon: 1  Lihat Detail Induk Abstract Technology developments in the field of robotics is growing. This is done to optimize the performance of the robot. To find out the results of the draft Upper-Limb Exoskeleton analysis is needed to determine the trajectory of the movement and find out the stability of the movement of the Upper-Limb Exoskeleton. Therefore in this thesis kinematic and dynamic analysis to evaluate the results of the design. Kinematic analysis performed by the method of Denavit Hartenberg convention and will be simulated in MATLAB software. Dynamic analysis performed by the Euler-Lagrange method. From the results of this thesis research can be concluded that the results of MATLAB simulation software generates link passage Upper-Limb Exoskeleton arm with link human arm movement trajectories and generate Lagrange equations and then proceed with the reverse dynamics method to generate the torque equation of each link. From the results of the torque equation can be obtained of the torque required to move each link and to determine the simulated movement of the manipulator so as to plan ways and motion control. Opini Anda Klik untuk menuliskan opini Anda tentang koleksi ini! Lihat Sejarah Pengadaan  Konversi Metadata   Kembali

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