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Erschienen in:
Critical Review and Progress of Adaptive Controller Design for Robot Arms Kapitel lesen Erstes Kapitel lesen

2017 | OriginalPaper | Buchkapitel

Synthesis and Analysis of Pneumatic Muscle Driven Parallel Platforms Imitating Human Shoulder

verfasst von : Xingwei Zhao, Bin Zi, Haitao Liu

Erschienen in: Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Verlag: Springer International Publishing

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Abstract

The shoulder joint typically refers to the glenohumeral joint, which is surrounded by the rotator cuff muscles. The muscles and joints allow the shoulder to move through a remarkable range of motion, making it one of the most mobile joints in the human body. In this paper, three pneumatic muscle driven parallel platforms are synthesized for imitating the human shoulder. A hybrid tension-stiffness index is carried out and utilized for dimensions optimization of the mechanisms. Based on the index, the kinematic characteristics of the three mechanisms are investigated and compared to one another. Overall, the mechanism III has the maximum wrench-closure workspace, as well as the best tension-stiffness factor among the wrench-closure workspace.

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Vorheriges Kapitel Tracking and Vibration Control of a Carbon Nanotube Reinforced Composite Robotic Arm
Nächstes Kapitel Conceptual Design of Energy Efficient Lower Extremity Exoskeleton for Human Motion Enhancement and Medical Assistance
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Metadaten
Titel
Synthesis and Analysis of Pneumatic Muscle Driven Parallel Platforms Imitating Human Shoulder
verfasst von
Xingwei Zhao
Bin Zi
Haitao Liu
Copyright-Jahr
2017
Buch
Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Print ISBN: 978-3-319-33580-3

Electronic ISBN: 978-3-319-33581-0

Copyright-Jahr: 2017

DOI
https://doi.org/10.1007/978-3-319-33581-0_21

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