Military Exoskeleton - Preliminary Kinematic Analysis
Journal Title: Problemy Mechatroniki. Uzbrojenie, lotnictwo, inżynieria bezpieczeństwa - Year 2014, Vol 5, Issue 3
Abstract
The first step in modelling exoskeleton as a type of mechatronic device has been shown in the paper. The military exoskeleton is a type of robot wearing by a soldier to support endurance and strength. Thorough literature analysis of the global constructions has been made since 1890 when the first patent Apparatus for facilitating walking, running and jumping had been reported. The main modern requirements of the exoskeleton construction have been determined and presented in this paper. As an example of motion analysis, the kinematics of one leg has been taken under consideration. Moreover, inverse kinematics problem has been solved using fuzzy logic. At the end, the results calculated with inverse kinematic equations and fuzzy logic have been compared.
Authors and Affiliations
Radosław BIELAWSKI, Paweł PISKUR
Keywords
Related Articles
- EP ID EP63019
- DOI -
- Views 88
- Downloads 0
Zastosowanie zgrzewania tarciowego wolframowego stopu ciężkiego ze stopem aluminium w konstrukcji specjalnej
Przedmiotem pracy są wyniki badań procesu zgrzewania tarciowego wolframowego stopu ciężkiego WHA (ang. Weight Heavy Alloy) ze stopem aluminium AlMg3. Stwierdzono, że zgrzewanie tarciowe wolframowego stopu ciężkiego o gęs...
Parametric Design of Aircraft Wing with Curved Leading Edge
In order to ease modelling procedures, eliminate repetitive effort and save time, modern CAD tools offer the ability to automate tasks via a programming language. Moreover, when the design is an iterative process, the au...
The Nano-Duplex NANOS-BA Steel for Application in Construction of Armours
The paper presents mechanical and physical properties measured in static conditions, and some properties determined in dynamic conditions, of plates of new nano-composite bainite-austenite (NANOS-BA) steel to be used for...
Pancerze perforowane
W artykule przedstawiono budowę i metodę badania warstwowych, stalowych pancerzy perforowanych opracowanych przez firmę HTK oraz Wojskowy Instytut Techniczny Uzbrojenia (WITU), mogących mieć zastosowanie jako dopancerzen...
New Materials and Thermo-Chemical Treatment Technologies of Small Arms Barrels
This paper discusses the research results of surface treatment of internal surface of barrel cal. 5,56 mm. The following technologies are described: chromium electroplating, bath cyaniding TENIFER, multiplex technologies...