scholarly journals Controlador robusto para el seguimiento de trayectorias para un exoesqueleto de extremidades inferiores

2019 ◽  
pp. 1-8
Author(s):  
Andrés Blanco-Ortega ◽  
Demetrio Pérez-Vigueras ◽  
Edgar Antúnez-Leyva ◽  
Jorge Colín Ocampo
Keyword(s):  
Cell Death ◽  
Lower Extremity ◽  
Muscle Atrophy ◽  
Human Body ◽  
Degrees Of Freedom ◽  
Severe Damage ◽  
Six Degrees Of Freedom ◽  
Adams Software ◽  
Simulation Results ◽  
The Brain

Currently, robotics has shown that it can increase the efficiency in the specific rehabilitation of some of the limbs of the human body, in this case assisting people who have suffered a stroke, by using devices such as exoskeletons, to provide continuous, smooth and controlled movements. Stroke is the result of a shortage of the brain that leads in just a few minutes to cell death, causing severe damage to the human body, even death of the patient. People who have suffered a stroke have difficulty rising from a chair. An exoskeleton is a mechanical structure designed to be used on the human body as a garment, it serves as a support and is used to assist movements or accentuate strength as a support in a person. Lower extremity exoskeleton can assist patients with hemiplegia to get up or sit on a chair, thus avoiding muscle atrophy and possible spasticity. This paper proposes the use of a robust Generalized Proportional Integral (GPI) controller for trajectory tracking for controlling a six degrees of freedom exoskeleton, to assist patients when getting up and sitting down from a chair. Simulation results obtained with the virtual prototype of the exoskeleton, under the environment of the MSC Adams software in co-simulation with Matlab are presented.

A Method of Saddle Trajectory Simulation Based on ADAMS

2014 ◽  
Vol 687-691 ◽  
pp. 645-648
Author(s):  
Qiang Fu ◽  
Wen Ming Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Complex Space ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Robot Simulation ◽  
Six Degrees Of Freedom ◽  
Trajectory Simulation ◽  
Simulation Based ◽  
Adams Software ◽  
Saddle Shape

Six degrees of freedom in this paper, by using the ADAMS software to realize the industrial robots can make any saddle trajectory simulation, and trajectory parameters, and it is easy to control the generated trajectory of the saddle shape, size and spatial position,which will improve the efficiency of the industrial robot simulation. The method of complex space curve simulation is generic, and can test the coordinate axis displacement, so the executing agency for the actual factory to avoid movement interference has a certain significance.

Numerical Prediction Method of Resistance Performance of Catamaran Planing Vessels

2013 ◽  
Vol 344 ◽  
pp. 19-22 ◽  
Author(s):  
Hai Long Shen ◽  
Wei Lu ◽  
Yu Min Su
Keyword(s):  
High Speed ◽  
Optimization Design ◽  
Degrees Of Freedom ◽  
Prediction Method ◽  
Hydrodynamic Performance ◽  
Rans Equations ◽  
Six Degrees Of Freedom ◽  
Simulation Results ◽  
Planing Vessel ◽  
Resistance Performance

The classical approaches using CFD software to calculate the hydrodynamic performance of catamaran planing vessel still need to rely on the model test or empirical formula to make sure of the running attitude. So a theoretical calculate method of resistance performance of catamaran planing vessel is proposed in this paper based on RANS equations and the VOF method to couple six degrees of freedom equation of the catamaran planing vessel. Numerical simulation results indicate that using RANS equations can better forecast hydrodynamic performance of catamaran planing vessel at high speed, which provides a practicable numerical method for optimization design of the catamaran planing vessels hull.

Design and analysis of a lightweight lower extremity exoskeleton with novel compliant ankle joints

2021 ◽  
pp. 1-14
Author(s):  
Yong He ◽  
Jingshuai Liu ◽  
Feng Li ◽  
Wujing Cao ◽  
Xinyu Wu
Keyword(s):  
Lower Extremity ◽  
Numerical Simulations ◽  
Degrees Of Freedom ◽  
Theoretical Models ◽  
Six Degrees Of Freedom ◽  
Movement Performance ◽  
Ankle Joints ◽  
Design Values ◽  
Flexible Deformation ◽  
Limb Rehabilitation

BACKGROUND: The exoskeleton for lower limb rehabilitation is an uprising field of robot technology. However, since it is difficult to achieve all the optimal design values at the same time, each lower extremity exoskeleton has its own focus. OBJECTIVE: This study aims to develop a modular lightweight lower extremity exoskeleton (MOLLEE) with novel compliant ankle joints, and evaluate the movement performance through kinematics analysis. METHODS: The overall structure of the exoskeleton was proposed and the adjustable frames, active joint modules, and compliant ankle joints were designed. The forward and inverse kinematics models were established based on the geometric method. The theoretical models were validated by numerical simulations in ADAMS, and the kinematic performance was demonstrated through walking experiments. RESULTS: The proposed lower extremity offers six degrees of freedom (DoF). The exoskeleton frame was designed adjustable to fit wearers with a height between 1.55 m and 1.80 m, and waist width from 37 cm to 45 cm. The joint modules can provide maximum torque at 107 Nm for adequate knee and hip joint motion forces. The compliant ankle can bear large flexible deformation, and the relationship between its angular deformation and the contact force can be fitted with a quadratic polynomial function. The kinematics models were established and verified through numerical simulations, and the walking experiments in different action states have shown the expected kinematic characteristics of the designed exoskeleton. CONCLUSIONS: The proposed MOLLEE exoskeleton is adjustable, modular, and compliant. The designed adjustable frame and compliant ankle can ensure comfort and safety for different wearers. In addition, the kinematics characteristics of the exoskeleton can meet the needs of daily rehabilitation activities.

On the Generation of Complex Trajectories Using a Robotic System with Six Degrees of Freedom

2014 ◽  
Vol 657 ◽  
pp. 803-807
Author(s):  
Dorin Bădoiu ◽  
Marius Petrescu ◽  
Georgeta Toma ◽  
Johannes Cornelis Helthuis
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Six Degrees Of Freedom ◽  
Robot Gripper ◽  
Orientation Function ◽  
Parabolic Trajectory ◽  
Simulation Results ◽  
Position And Orientation ◽  
Complex Trajectories ◽  
Orientation Parameters

In this paper a method that allows the generation of complex trajectories using a RRTRRR robotic system (with five rotation modules and a translation module) is presented. The method is based on the decoupling between the positioning function and the orientation function of the tool frame (OTxTyTzT) attached to the robot gripper. The method permits to determine all the solutions corresponding to the robot coordinates that allow obtaining the movement of the tool frame with imposed position and orientation parameters. Finally, some simulation results are presented in the case when OT is moving along a parabolic trajectory with an imposed orientation of the tool frame.

Trajectory Planning Research of the Filter Shell Special Arc Welding Robot

2013 ◽  
Vol 706-708 ◽  
pp. 1103-1107
Author(s):  
Ling Wang ◽  
Xin Qing Fan ◽  
Fu Yan Qi ◽  
Wan Hua Wei
Keyword(s):  
Coordinate System ◽  
Detailed Analysis ◽  
Trajectory Planning ◽  
Arc Welding ◽  
Degrees Of Freedom ◽  
Kinematics Analysis ◽  
Welding Robot ◽  
Connecting Rod ◽  
Six Degrees Of Freedom ◽  
Simulation Results

The detailed analysis of the structure and paramerers of the connecting rod is put forward by using the improving D-H method to establish the link coordinate system and the kinematics equation, based on the special filer shell arc welding robot with six degrees of freedom designed. Therefor, the correctness of the kinematics equation is verified though the simulation of Matlab function with the robotics toolbox. The anasysis simulation results show that the rationality of the robot structure that based on the kinematics analysis, is feasible.

Biological response of the organism to the introduction of metal nanocomposites

2020 ◽  
pp. 761-762
Author(s):  
L. M. Sosedova ◽  
V. S. Rukavishnikov ◽  
E. A. Titov
Keyword(s):  
Cell Death ◽  
Programmed Cell Death ◽  
Biological Response ◽  
Brain Cell ◽  
Metal Nanocomposites ◽  
The Brain

The results of a study on rats toxicity of nanoparticles of metals bismuth, gadolinium and silver encapsulated in a natural biopolymer matrix arabinogalactan are presented. When intake of nanocomposite of silver revealed the readiness of the brain cell to apoptosis. The effect of bismuth and gadolinium nanocomposites did not cause an increase in the process of programmed cell death.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

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