scholarly journals Design, Simulation and Verification of a 7-DOF Joint Motion Simulation Platform

2020 ◽  
Author(s):  
Ze Cui ◽  
Saishuai Huang ◽  
Zenghao Chen ◽  
Hongxin Yang ◽  
Danjie Zhu
Keyword(s):  
Testing System ◽  
Joint Motion ◽  
Simulation Platform ◽  
Motion Simulation ◽  
Motion Controller ◽  
Translation Error ◽  
Kinematics Simulation ◽  
Before And After ◽  
Spherical Parallel Mechanism ◽  
Human Joints

The human body has many joints, and joint injuries frequently occur in various sports. To explore the biomechanical state of ligaments or muscles in human joints before and after damage, and to help doctors judge the damage and repair of joints, this article proposes a seven-degree-of-freedom platform based on three rotations spherical parallel mechanism for simulating human joint motion. Taking the knee joint as an example, this article simplified its model, and performed kinematics simulation by ADAMS to verify the feasibility of this mechanism. And based on the TRIO motion controller, we established the physical testing system. The correctness is finally verified by experiment in kind, which proves the feasibility of the joint motion simulation platform. And in terms of accuracy, it also performances very well. For example, when it needs to rotate 30∘ around the Y-axis, its actual rotation angle is 29.6∘, the error is less than 2%, and its translation error is also within 3%.

Configuration Design and Simulation of Exoskeleton for Upper Limb Rehabilitation Train

2014 ◽  
Vol 701-702 ◽  
pp. 654-658 ◽  
Author(s):  
Yuan Zhang ◽  
Qiang Liu ◽  
Ji Liang Jiang ◽  
Li Yuan Zhang ◽  
Rui Rui Shen
Keyword(s):  
Upper Limb ◽  
Simulation Analysis ◽  
Motion Simulation ◽  
Upper Limb Rehabilitation ◽  
Motion Data ◽  
Upper Limb Exoskeleton ◽  
Movement Data ◽  
Kinematics Simulation ◽  
Motion Process ◽  
Limb Rehabilitation

A new upper limb exoskeleton mechanical structure for rehabilitation train and electric putters were used to drive the upper limb exoskeleton and kinematics simulation was carried. According to the characteristics of upper limb exoskeleton, program control and master - slave control two different ways were presented. Motion simulation analysis had been done by Pro/E Mechanism, the motion data of electric putter and major joints had been extracted. Based on the analysis of the movement data it can effectively guide the electric putter control and analysis upper limb exoskeleton motion process.

A Time-Varying Weight MPC-Based Motion Cueing Algorithm for Motion Simulation Platform

2021 ◽  
pp. 1-12
Author(s):  
Mohammad Reza Chalak Qazani ◽  
Houshyar Asadi ◽  
Shady Mohamed ◽  
Chee Peng Lim ◽  
Saeid Nahavandi
Keyword(s):  
Simulation Platform ◽  
Time Varying ◽  
Motion Simulation ◽  
Motion Cueing

Kinematics Simulation of Proprioceptive Mechanism for Vehicle Driving Simulator

2011 ◽  
Vol 63-64 ◽  
pp. 82-85 ◽  
Author(s):  
Chen Zhang ◽  
Chang Yong Xu ◽  
Li Yan Zhang
Keyword(s):  
Simple Structure ◽  
Driving Simulator ◽  
Motion Simulation ◽  
Kinematics Simulation ◽  
Motion Characteristic ◽  
Virtual Prototyping Technology ◽  
Design Requirements ◽  
Vibration Action ◽  
Vehicle Driving Simulator ◽  
Source Motion

A proprioceptive mechanism of vehicle driving simulator is proposed to realize pitch, roll and vibration action of vehicle driving simulator based on application foundation of proprioceptive mechanism. The proposed mechanism has very simple structure and a brief description of this mechanism is given. The proposed proprioceptive mechanism is established based on CATIA V5 platform by using the virtual prototyping technology. The CATIA V5 motion simulation model is used to simulate the proposed proprioceptive mechanism by setting the parameters of source motion input and motion interference and motion characteristic is analyzed to provide design basis. The kinematics simulation results show that the designed proprioceptive mechanism for vehicle driving simulator can realize the design requirements and complete the proprioceptive actions.

Research on the Ship Motion Simulation Platform for Three Degrees Based on Seasickness Test and Kinematics Analysis

2012 ◽  
Vol 252 ◽  
pp. 89-92
Author(s):  
Zhi Wei Zhang ◽  
Song Li ◽  
Kai Cong ◽  
Jin Chun Song
Keyword(s):  
Control System ◽  
Virtual Prototype ◽  
Ship Motion ◽  
Simulation Platform ◽  
Motion Simulation ◽  
Hydraulic Control ◽  
Kinematics Analysis ◽  
Matlab Simulink ◽  
Hydraulic Control System

A new structure of ship motion simulation platform and its hydraulic control system were designed. Matlab/Simulink was used for the analyses of hydraulic control system. Virtual prototype of the ship motion simulation platform was built up by ADAMS under the seasickness test condition, and the kinematics analysis was also carried on. The results show the effectiveness on the model of platform.

Configuration Optimization of a Boat Simulation Platform for a Mobile User

2010 ◽  
Author(s):  
Juan C. Blanco ◽  
Carlos F. Rodri´guez
Keyword(s):  
Fitness Function ◽  
Center Of Mass ◽  
Parallel Robot ◽  
Mobile User ◽  
Simulation Platform ◽  
Motion Simulation ◽  
Objective Functions ◽  
Low Discrepancy Sequences ◽  
Position And Orientation ◽  
Mechanical Devices

Motion simulation platforms are mechanical devices designed to replicate the dynamics of a given vehicle. These devices are very attractive for training individuals as drivers, pilots or passengers. In the case of river boats, the simulator consists of a section of the boat (hull) mounted over a 3 DOF parallel robot with a passive mass compensator (3UPS + PU). If users have mobility in the hull, an uncertainty in the position of the upper platform’s center of mass is produced. This variation may generate excessive loads on the robot that can be prevented by an adequate placement of the hull over the robot. Dynamic calculations, based on measurements of the real boat in motion, are computed by numerical simulations in SimMechanics. Three methodologies are presented for optimizing the configuration of a boat simulation platform. First, a manual procedure is developed in which critical cases are intuitively detected and evaluated. Then, two multi-variable optimization algorithms are used to systematically obtain the best position and orientation (pose) of the boat section: Genetic Algorithms and low discrepancy sequences. The pose is the design variable; the average forces are the objective functions and the maximum difference between the average forces is the fitness function. The article describes the design problem, the proposed optimization methodologies and simulation results for the optimal configuration.

scholarly journals Changes in Abduction and Rotation Range of Motion in Response to Simulated Dorsal and Ventral Translational Mobilization of the Glenohumeral Joint

2002 ◽  
Vol 82 (6) ◽  
pp. 544-556 ◽  
Author(s):  
Ar-Tyan Hsu ◽  
Tom Hedman ◽  
Jia Hao Chang ◽  
Chuong Vo ◽  
Larry Ho ◽  
...  
Keyword(s):  
Range Of Motion ◽  
Glenohumeral Joint ◽  
Physical Therapists ◽  
Frozen Shoulder ◽  
Testing System ◽  
Before And After ◽  
Medial Rotation ◽  
Fresh Frozen ◽  
Lateral Rotation ◽  
Improved Function

AbstractBackground and Purpose. Translational mobilization techniques are frequently used by physical therapists as an intervention for patients with limited ranges of motion (ROMs). However, concrete experimental support for such practice is lacking. The purpose of the study was to evaluate the effect of simulated dorsal and ventral translational mobilization (DTM and VTM) of the glenohumeral joint on abduction and rotational ROMs. Methods. Fourteen fresh frozen shoulder specimens from 5 men and 3 women (mean age=77.3 years, SD=10.1, range=62–91) were used for this study. Each specimen underwent 5 repetitions of DTM and VTM in the plane of scapula simulated by a material testing system (MTS) in the resting position (40° of abduction in neutral rotation) and at the end range of abduction with 100 N of force. Abduction and rotation were assessed as the main outcome measures before and after each mobilization procedure performed and monitored by the MTS (abduction, 4 N·m) and by a servomotor attached to the piston of the actuator of the MTS (medial and lateral rotation, 2 N·m). Results. There were increases in abduction ROM for both DTM (X̄=2.10°, SD=1.76°) and VTM (X̄=2.06°, SD=1.96°) at the end-range position. No changes were found in the resting position following the same procedure. Small increases were also found in lateral rotation ROM after VTM in the resting position (X̄=0.90°, SD=0.92°, t=3.65, P=.003) and in medial rotation ROM after DTM (X̄=0.97°, SD=1.45°, t=2.51, P=.026) at the end range of abduction. Discussion and Conclusion. The results indicate that both DTM and VTM procedures applied at the end range of abduction improved glenohumeral abduction range of motion. Whether these changes would result in improved function could not be determined because of the use of a cadaver model.

Path Point Calculation and 3D Coordinate Display for WMR Based on Vision

2011 ◽  
Vol 121-126 ◽  
pp. 4176-4179
Author(s):  
Hong Wei Gao ◽  
Chang Yi Luan ◽  
Hui Ying Yang
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Simulation Platform ◽  
Motion Simulation ◽  
3D Space ◽  
Point Calculation ◽  
Simulation Results ◽  
2D And 3D ◽  
Path Point

According to the path point calculation, display and motion simulaiton problem for wheeled mobile robot(WMR), two kinds of path point calcualtion method are discussed from 2D and 3D space in this paper. The simulation results based on the motion simulation platform prove the validity and practicability of the proposed method.

Study on Kinematics Simulation of 3-TPT Parallel Machine Tool Based on Pro/E

2011 ◽  
Vol 199-200 ◽  
pp. 1555-1559 ◽  
Author(s):  
Heng Hua Zhao ◽  
Chuan Qiang Wang
Keyword(s):  
Machine Tool ◽  
Three Dimensional ◽  
Parallel Machine ◽  
Motion Simulation ◽  
Solid Models ◽  
Kinematics Simulation ◽  
Sense Of Reality ◽  
Working Principle ◽  
Simulation Results ◽  
Parallel Machine Tool

The machinery composition and working principle of 3-TPT parallel machine tool were analyzed. The three dimensional solid models of components of 3-TPT parallel machine tool were designed by using Pro/E. The virtual assembly and connection of the machine tool were accomplished in the assembly environment of Pro/E. Besides, the three-dimensional motion simulation of mechanism about the machine tool was researched in the mechanism module of Pro/E. The three-dimensional animation achieved by the simulation has the strong sense of reality. The working principle of the parallel machine tool was verified by the simulation. The simulation results show that the machine tool has advantages such as good stationarity, no interference and no singularity.

Inverse Kinematics Analysis of a 2-Dof Spherical Parallel Shift Manipulator

2015 ◽  
Vol 741 ◽  
pp. 687-690
Author(s):  
Lu Xi Chen ◽  
Zhan Xian Li ◽  
Zhi Jun Wang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Inverse Solution ◽  
Structure Characteristic ◽  
Chinese Characters ◽  
Kinematics Analysis ◽  
Parallel Shift ◽  
Kinematics Simulation ◽  
Spherical Parallel Mechanism

Shift manipulator requires the transmission shift lever end Chinese characters ‘Wang’ motion, this paper proposes a kind of 2-Dof asymmetric spherical parallel mechanism to realize the movement. The structure characteristic and the trajectory of the manipulator are described. The position inverse solution of the 2-Dof spherical parallel mechanism is obtained by inverse kinematics analysis. Inverse kinematics simulation of the parallel mechanism is proposed finally.

Development of the Picking Manipulator Simulation Platform Based on Multi-Domain System

2010 ◽  
Vol 102-104 ◽  
pp. 292-296
Author(s):  
Yin Le Chen ◽  
Xiang Jun Zou ◽  
Hai Xin Zou ◽  
Quan Sun ◽  
Jing Li ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Intelligent Design ◽  
Simulation System ◽  
Simulation Platform ◽  
Research Needs ◽  
Motion Simulation ◽  
Motion Model ◽  
Simulation Accuracy ◽  
The Real ◽  
Analysis Tools

In order to reduce the research and experimental cost of hand-picking machine, to make the design of manipulator more reasonable, and to provide more optimized program for the design, an agricultural picking manipulator simulation system based on intelligent design was designed. Firstly ,based on the research needs, to simplify the real picking manipulator under the premise of that the simulation accuracy reach the requirement, the model of picking manipulator had been simplified. Secondly, the finished model was put into EON Studio to build the virtual procedure, and movement properties were added to the manipulator to realize the function of motion simulation. Thirdly, the picking manipulator mathematics motion model of 4 freedoms was established, and the inverse kinematics of the picking manipulator was analyzed by MATLAB analysis tools, and the reverse solution program was written. Finally, Microsoft Visual C++ was used to complete the design of simulation platform, in order to realize the calling of various functions of the manipulator.

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