@ARTICLE{Leniowska_Lucyna_The_2012, author={Leniowska, Lucyna and Leniowski, Ryszard}, volume={vol. 37}, number={No 4}, journal={Archives of Acoustics}, pages={475-482}, howpublished={online}, year={2012}, publisher={Polish Academy of Sciences, Institute of Fundamental Technological Research, Committee on Acoustics}, abstract={This paper presents a vibration analysis of a multi-link surgical micromanipulator joint, based on its detailed mathematical model. The manipulator’s prototype contains 6 links with the diameter of 8-10 [mm] and with the length of the modules of about 130 [mm]. It is driven by brushless servomotors with worm and planetary gears, for which the total transmission ratio is above 1/10000. Regarding the low efficiency of micro-robot drive systems and its vibrations, a reliable joint model and its performance is crucial for the development of a high-precision control system. To achieve the required accuracy, modelling framework has been enriched with an advanced model of friction. Simulation results are presented and discussed.}, type={Artykuły / Articles}, title={The Joint Vibration Analysis of a Multi-Link Surgical Manipulator}, URL={http://www.journals.pan.pl/Content/101621/PDF/08_paper.pdf}, doi={10.2478/v10168-012-0059-7}, keywords={joint vibration, joint model, friction model, surgical manipulator.}, }