Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism for Rehabilitation
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This paper presents the geometry and the kinematic analysis of a parallel manipulator developed for ankle rehabilitation, as the beginning of a control system design process. First the geometry of the parallel mechanism is described, secondly the equations for the inverse and the forward kinematics are obtained, then the forward kinematics is analyzed in order to define all the possible configurations of the moving platform. Finally the Jacobian matrix of the rig is obtained by differentiating the position equations and the singularities are investigated, comparing the non-redundant and redundant type of mechanism.
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2013 ◽
Vol 816-817
◽
pp. 821-824
2019 ◽
Vol 142
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pp. 103587
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2001 ◽
Vol 13
(5)
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pp. 488-496
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