Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture

Abstract

Abstract. In this paper, a prototype of a LARM leg mechanism is proposed by using a tripod manipulator and its operation performance is investigated through lab experimental tests. In particular, an experimental layout is presented for investigating operational performance. A prescribed motion with an isosceles trapezoid trajectory is used for characterizing the system behavior. Experiment results are analyzed for the purpose of operation evaluation and architecture design characterization of the tripod manipulator and its proposed prototype.

Kinematic analysis of a novel 3-CRU translational parallel mechanism

“…The dynamics modeling of a translational 3-CPU was investigated via screw theory (Carbonari et al, 2013). The operation performance of a LARM leg mechanism with 3-UPU parallel architecture was studied in Wang et al (2015). Besides these new 3-DOF TPMs mentioned above, some other 3-DOF architectures can be found in the literature Simoni et al, 2013;Gregorio and Parenti-Castelli, 2002;Ji and Wu, 2003;Chung and Hervé, 2006;Kim and Chung, 2003;Merlet, 2006;Li and Xu, 2005a, b;Tsai and Joshi, 2002;Chablat and Wenger, 2001).…”

Design and evaluation of a new exoskeleton for gait rehabilitation

“…There are developed similar one DOF leg solutions at LARM Laboratory Casino, Italy (Li et al, 2013;Wang et al, 2015b). The starting point in developing of a new leg mechanism is that the ankle joint trajectory must assure an ovoid path, to assure human leg motion during swing and also to assure proper angular variations of the joints.…”

“…Exoskeletons for industrial application are presented in de Looze et al (2016), powered exoskeletons in post -stroke rehabilitation are studied in Louie et al (2016) and for arm rehabilitation in Schorsch et al (2014); Jarrassé et al (2014). The aspect of control systems of active exoskeletons is studied in Anama et al (2012), while aspects of exoskeleton design, path planning, modeling and simulation, experimental tests are studied by Carbone et al (2007); Ashkani et al (2016); Wang et al (2015b); Ceccarelli et al (2009).…”