D Chakarov I Veneva M Tsveov T Tiankov D Trifonov Institute...

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D. Chakarov, I. Veneva, M. Tsveov, T. Tiankov, D. Trifonov Institute of Mechanics, Bulgarian Academy of Sciences, Acad. G. Bonchev St., Bl. 4, Sofia 1113, Bulgaria, e-mails: {mit, veneva, tihomir, trifonov}@imbm.bas.bg, [email protected] NEW EXOSKELETON ARM CONCEPT DESIGN AND ACTUATION FOR HAPTIC INTERACTION WITH VIRTUAL OBJECTS Abstract. In the work presented in this paper the conceptual design and actuation of one new exoskeleton of the upper limb is presented. The device is designed for application where both motion tracking and force feedback are required, such as human interaction with virtual en- vironment or rehabilitation tasks. The choice is presented of mechanical structure kinematical equivalent to the structure of the human arm. An actuation system is selected based on braided pneumatic muscle actua- tors. Antagonistic drive system for each joint is shown, using pulley and cable transmissions. Force/displacement diagrams are presented of two antagonistic acting muscles. Kinematics and dynamic estimations are performed of the system exoskeleton and upper limb. Selected parame- ters ensure in the antagonistic scheme joint torque regulation and human arm range of motion. Leonid I. Turchak 1 , Maria I. Gritsevich 1,2,3 1Russian Academy of Sciences Dorodnicyn Computing Centre, Vavilov Str. 40, 119333 Moscow, Russia, e-mails: [email protected], [email protected] 2. Finnish Geodetic Institute, Geodeetininne 2, 02430 Masala, Finland 3. Institute of Physics and Technology, Ural Federal University, Mira Str. 19, 620002 Ekaterinburg, Russia METEOROIDS INTERACTION WITH THE EARTH ATMOSPHERE Abstract. In this study we evaluate meteoroid mass and its other properties based on the observed atmospheric trajectory. With account for aerodynamics, we formulate a problem by introducing key dimensionless parameters in the model, responsible for the drag, mass loss and rotation of meteoroid. The proposed model is suitable to categorize various
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  • Spring '18
  • casarona
  • Finite Element Method, Fracture mechanics, Bulgaria, Sofia, Institute of Mechanics

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