Kinematics analysis and trajectory planning for a breast intervention robot under MRI environment

2017 ◽  
Author(s):  
Yongde Zhang ◽  
Mingyue Lu ◽  
Haiyan Du
Keyword(s):  
Trajectory Planning ◽  
Kinematics Analysis ◽  
Mri Environment

scholarly journals Kinematics Analysis and Trajectory Planning of collaborative welding robot with multiple manipulators

Procedia CIRP ◽  
2019 ◽  
Vol 81 ◽  
pp. 1034-1039 ◽  
Author(s):  
Xuemei Liu ◽  
Chengrong Qiu ◽  
Qingfei Zeng ◽  
Aiping Li
Keyword(s):  
Trajectory Planning ◽  
Kinematics Analysis ◽  
Welding Robot ◽  
Multiple Manipulators

Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis

2010 ◽  
Vol 29-32 ◽  
pp. 293-298 ◽  
Author(s):  
Zhi Lan ◽  
Zhen Liang Li ◽  
Ya Li
Keyword(s):  
Activities Of Daily Living ◽  
Upper Limb ◽  
Trajectory Planning ◽  
Daily Living ◽  
Rehabilitation Robot ◽  
Kinematics Analysis ◽  
Important Data ◽  
Upper Limb Rehabilitation ◽  
Set Up ◽  
Limb Rehabilitation

A novel 5-DOF upper limb rehabilitation robot, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. The solutions of the robot’s kinematics equation were set up by the method of D-H according to the 5-DOF rehabilitation robot for upper limb. Based on the software of ADAMS, the mechanism was simulated and analyzed. Thus the movement of robot is determinate in a certain condition of importation. It offered important data for the trajectory planning and the actual intellective control of rehabilitating robot.

Study on the Trajectory Planning of Hybrid-Driven Planar 3-RRR Mechanism

2012 ◽  
Vol 190-191 ◽  
pp. 733-738
Author(s):  
Sheng Tao Song ◽  
Rui Qin Li ◽  
Ai Ling Wang ◽  
Yan Gao
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Spline Function ◽  
Power Source ◽  
Kinematics Analysis ◽  
Servo Motor ◽  
Mechanism Synthesis ◽  
Point To Point ◽  
Cubic Spline Function ◽  
Text Study

Hybrid-driven mechanism synthesis the constant speed motor and the servo motor as the power source through a multi degree of freedom mechanism. The text study on the trajectory planning of hybrid-driven planar 3-RRR mechanism. Firstly, based on compatible link combinations, all possible basic configurations of planar 3-dof kinematics chains were derived. Based on the requirements of hybrid-driven mode, the kinematics chains were selected one by one Planar 3-RRR mechanism was determined to be the research object finally. Then, based on the conclusions of inverse kinematics analysis, using the cubic spline function on point to point path planning, the servo motor rotation laws were presented. Comparing the different speed situation of constant motor, the influence trends on planning results were analyzed.

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