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Erschienen in:

2015 | OriginalPaper | Buchkapitel

Kinematics Analysis and Verification on the Novel Reconfigurable Ankle Rehabilitation Robot Based on Parallel Mechanism

verfasst von : Shilong Zeng, Ligang Yao, Xiaoning Guo, Hengli Wang, Pengju Sui

Erschienen in: New Trends in Mechanism and Machine Science

Verlag: Springer International Publishing

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Abstract

This paper proposes a novel reconfigurable ankle rehabilitation robot based on parallel mechanism. The proposed robot is composed of the linear actuators, reconfigurable mechanism, connecting rods, rockers and the moving platform. Then, the kinematic characteristics analysis for the proposed robot is given. The function relationships between the moving platform and the actuators are obtained. Furthermore, the verification for this novel reconfigurable robot is completed by wireless movement capture instrument, and the results show that the prototype ankle rehabilitation robot can meet the motion needed for the ankle rehabilitation.

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Vorheriges Kapitel Designing Cam Mechanisms Using CAx

Nächstes Kapitel Finite Element Modeling and Analysis of an Isoglide-Type Parallel Manipulator to Determine Its Rigidity/Stiffness

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Titel: Kinematics Analysis and Verification on the Novel Reconfigurable Ankle Rehabilitation Robot Based on Parallel Mechanism
verfasst von: Shilong Zeng
Ligang Yao
Xiaoning Guo
Hengli Wang
Pengju Sui
Verlag: Springer International Publishing
Buch: New Trends in Mechanism and Machine Science
Print ISBN: 978-3-319-09410-6

Electronic ISBN: 978-3-319-09411-3

Copyright-Jahr: 2015
DOI: https://doi.org/10.1007/978-3-319-09411-3_21

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