Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of m Local Closed-Loop Linkages Appended to an n-Link Serial Manipulator

My, Chu Anh; Định, Nguyễn Công; Vu, Minh Hoan; Duong, Xuan Bien; Nguyen, Tien Anh; Le, Chi Hieu

doi:10.3390/app10072567

Cited by 7 publications

(5 citation statements)

References 34 publications

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“…The hybrid robot manipulator under consideration consists of two serially connected parallel mechanisms that were analytically modeled [39]. An analytical method was developed for kinematic and dynamic modeling for a class of hybrid robots [40]. Recursive solutions for obtaining the inverse and direct dynamic models of hybrid robots that are constructed by serially connected non-redundant parallel modules were developed [41].…”

Section: Resultsmentioning

confidence: 99%

The Design and Control of a Footplate-Based Gait Robo-Assisted System for Lower Limb Actuator

Rahmati

Karimi

2022

Machines

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Stroke causes disability in the lower-limb symmetry gait pattern in affected patients. The patients would not be able to regain their usual walking ability independently unless they benefit from rehabilitation therapies. Footplate-based gait robo-assisted systems can help patients to conduct effective training/exercising while tracking their progress of recovery and can dramatically reduce the clinical labor costs of physiotherapy. In the sense of simulation and not the design of the mechanical structure, this study aims to perform a combination of dynamic and control simulation of a five degrees-of-freedom footplate-based gait robo-assisted system established according to the Stewart platform structure for use in lower limb rehabilitation of stroke patients. The effectiveness and performance of the proposed mechanism were assessed through a clinical gait pattern of a healthy male individual. The proposed robo-assisted system enables the simulation of the hip and knee flexion/extension as well as the ankle dorsiflexion/plantar flexion of stroke patients to reproduce their typical symmetry gait pattern. The results were interpreted as the dynamic movement characteristics of the right and left thigh, leg, and foot compared to the clinical gait pattern with a mean percentage error of 6.70% to show the effectiveness and accuracy of the developed robo-assisted system for lower limb actuation in the simulation process.

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Section: Resultsmentioning

confidence: 99%

The Design and Control of a Footplate-Based Gait Robo-Assisted System for Lower Limb Actuator

Rahmati

Karimi

2022

Machines

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“…The identified challenges and proposed conceptual framework can also be useful when working on hazard analysis and risk assessment of SF, as well as designing and selecting smart elements for SF such as AGVs, cobots, industrial robots [26][27][28], robot cells and automation systems.…”

Section: Discussionmentioning

confidence: 99%

Challenges and Conceptual Framework to Develop Heavy-Load Manipulators for Smart Factories

2020

IJOMAM

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“…Where s m is the control signal of outer loop control; s p is the control signal of the inner loop; s f is the fusion control signal; Coefficient K 1 and K 2 should be chosen adaptively according to the error between the end effector and target position in x-y-z direction described in equation (27).…”

Section: Controller Signal Fusionmentioning

confidence: 99%

“…24 Multiple solutions may be solved, hence these solutions should be reasonably selected according to the actual constraints. [25][26][27] The most common numerical solution method is the Newton-Raphson-based iterative method. 28,29 These methods have no special requirements for robot configurations.…”

Section: Introductionmentioning

confidence: 99%

A dual-loop feedback trajectory tracking control for rock drilling hydraulically driven manipulator

Chen,

Wu,

Liao

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper is devoted to proposing a feedback trajectory tracking control method for hydraulically driven rock drilling robotic manipulators. The rock drilling robot has a large-scale long boom and multiple joints (6R-2P), so the deformation of the arm may not be neglected. A kinematic model with the flexible deformation of the boom is developed by adding a modified coordinate transformation matrix to the general model. Each joint motion is determined by solving the inverse kinematic model in an optimization algorithm, which aims at minimizing the positional error and smoothing the motion. A dual-loop feedback controller is proposed to track the end-effector’s position and orientation. Based on the model predictive control (MPC) method, the inner-loop controller controls the cylinder motion by controlling the cylinder motion. The outer-loop controller uses the fuzzy-PID control to correct the position error which is caused by the inner-loop controller. Several reference trajectories are designed to validate the effectiveness of the proposed dual-loop control strategy, which demonstrates it has higher accuracy and lower control fluctuation than single-loop and other dual-loop controllers.

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Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of m Local Closed-Loop Linkages Appended to an n-Link Serial Manipulator

Cited by 7 publications

References 34 publications

The Design and Control of a Footplate-Based Gait Robo-Assisted System for Lower Limb Actuator

The Design and Control of a Footplate-Based Gait Robo-Assisted System for Lower Limb Actuator

Challenges and Conceptual Framework to Develop Heavy-Load Manipulators for Smart Factories

A dual-loop feedback trajectory tracking control for rock drilling hydraulically driven manipulator

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