一种新型三维并联机械臂行走康复装置的运动学分析

2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2018-09-01 DOI:10.1109/ICEEE.2018.8533958

A. Rios, Eusebio E. Hernández, J. Moreno, S. Keshtkar, R. D. L. Garza

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引用次数: 4

摘要

本文对一种新型并联平台步行康复装置进行了运动学分析研究。研究包括机构的雅可比矩阵逆的封闭表达式及其时间导数的推导。对正运动学问题在线解的数值迭代格式进行了评价。对机械臂进行雅可比矩阵分析，然后进行奇异性和灵敏度分析。为了验证公式的正确性，给出了典型行走轨迹逆运动学和正运动学计算的仿真结果，并验证了正运动学问题数值解的准确性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Kinematics Analysis of a New 3DOF Parallel Manipulator as Walking Rehabilitation Device

In this paper, the analytical kinematic study of a new parallel platform-based walking rehabilitation device is presented. The study includes the derivation of closed-form expressions for the inverse Jacobian matrix of the mechanism and its time derivative. The evaluation of a numerical iterative scheme for the online solution of the forward kinematic problem is also presented. The Jacobian analysis for the manipulator is performed and then used for singularity and sensitivity analysis. In order to verify the formulations, the simulation results of the computation of inverse and forward kinematics for a typical walking trajectory are presented and the accuracy of a numerical solution to the forward kinematic problem is verified.

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2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

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