N2 - 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. L1 - http://journals.pan.pl/Content/101621/PDF/08_paper.pdf L2 - http://journals.pan.pl/Content/101621 PY - 2012 IS - No 4 EP - 482 DO - 10.2478/v10168-012-0059-7 KW - joint vibration KW - joint model KW - friction model KW - surgical manipulator. A1 - Leniowska, Lucyna A1 - Leniowski, Ryszard PB - Polish Academy of Sciences, Institute of Fundamental Technological Research, Committee on Acoustics VL - vol. 37 DA - 2012 T1 - The Joint Vibration Analysis of a Multi-Link Surgical Manipulator SP - 475 UR - http://journals.pan.pl/dlibra/publication/edition/101621 T2 - Archives of Acoustics