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

Zeng, Shilong; Yao, Ligang; Guo, Xijuan; Wang, Hengli; Sui, Pengju

doi:10.1007/978-3-319-09411-3_21

Cited by 5 publications

(1 citation statement)

References 9 publications

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“…With development of the manufacturing technology, robots are used in industrial applications where high accuracy, repeatability and stability of operations are required. Various parallel robots with six degree of freedom have been widely used in many fields including flight simulators, rehabilitation robotics and coordinate measuring devices [1]. Compared to other kinds of robots, the parallel robots have special kinematic characteristics because of their limited actuator displacements.…”

Section: Introductionmentioning

confidence: 99%

Direct Displacement Problem of the 6-DOFGough-Stewart Platform

Gebel¹

2016

Proceedings of the 27th International DAAAM Symposium 2016

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In order to obtain direct displacement solutions of parallel manipulator without divergence in real time, a Newton-Raphson algorithm was proposed for direct displacement analysis of six-degree-of-freedom (DOF) Gough-Stewart platform. Based on geometrical frame of parallel mechanism, the highly nonlinear equations of kinematics were arranged into the homogeneous transformation matrix. The procedure of Newton-Raphson algorithm was programmed in Matlab/Simulink. The performance of the proposed algorithm for the 6-PSS parallel mechanism was analysed and confirmed. Applying Newton-Raphson algorithm, the real generalized pose of movable base is solved by using the given position of actuators.

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Section: Introductionmentioning

confidence: 99%