Structure Design and Analysis of Kinematics of a 6-DOF Upper-Limbed Rehabilitation Robot

2013 ◽  
Vol 433-435 ◽  
pp. 125-129
Author(s):  
Dian Feng Cao ◽  
Qi Zhi Yang ◽  
Jun Peng Song ◽  
Jin Hai Zhao
Keyword(s):  
Three Dimensional ◽  
Transformation Method ◽  
Structure Design ◽  
Rehabilitation Robot ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Theoretical Derivation ◽  
Kinematics Simulation ◽  
Movement Characteristics ◽  
Inverse Solutions

In order to solve the problems that the functions of exiting upper-limbed rehabilitation robot are single and the structure is complicated, a 6-DOF exoskeleton upper-limbed rehabilitation robot is put forward. The kinematics model of the rehabilitation robot is established and kinematics positive and inverse solutions are solved using D-H transformation method. Three dimensional model of the rehabilitation robot is created by Pro/E and imported into ADAMS/view for the kinematics simulation by Mechanism/Pro. The gotten simulation results of the simulation verify the correctness of theoretical derivation and prove the smooth movement Characteristics of the scheme.

scholarly journals Structure Design And Analysis Of Kinematics Of An Upper-limbed Rehabilitation Robot

2018 ◽  
Vol 232 ◽  
pp. 02033
Author(s):  
Zhiming Wang ◽  
Zhenglong Cai ◽  
Lizheng Cui ◽  
Changfu Pang
Keyword(s):  
Equations Of Motion ◽  
Three Dimensional ◽  
Structure Design ◽  
Rehabilitation Robot ◽  
Three Dimensional Model ◽  
Theoretical Derivation ◽  
Mechanism Control ◽  
Physiological Structure ◽  
Important Basis ◽  
Human Upper Limb

According to the physiological structure of human upper limb, a 5-DOF upper-limbed rehabilitation robot is designed in this paper. Based on the software of Pro/E, the robot model is established. Based on the theory of robot coordinate transformation, the equations of motion of robot are established by the method of D-H. Three dimensional model of the rehabilitation robot is imported into the software of ADAMS for the kinematics analysis and simulation. The obtained simulation position curves are consistent with the theoretical position curves, verifying the correctness of the theoretical derivation. The result of the simulation proves the correctness of the kinematics equation. These studies provide an important basis for the realization of mechanism control.

Mechanism Design and Kinematics Simulation of Massage Mechanical Arm

2011 ◽  
Vol 101-102 ◽  
pp. 279-282 ◽  
Author(s):  
Jun Xie ◽  
Jun Zhang ◽  
Jie Li
Keyword(s):  
Mechanism Design ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Model ◽  
Kinematics Simulation ◽  
The Common ◽  
Executive Mechanism

Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.

Modeling and Kinematics Simulation of HT-CVT Based on Virtual Prototype Technology

2010 ◽  
Vol 44-47 ◽  
pp. 884-888
Author(s):  
Qing Gong Zhang ◽  
Hua Li ◽  
Jin Yao
Keyword(s):  
Hydrodynamic Lubrication ◽  
Three Dimensional ◽  
Gear Ratio ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Traction Drive ◽  
Kinematics Simulation ◽  
Contact Constraint ◽  
Variable Transmission ◽  
Angular Velocities

The three-dimensional model of a Half Toroidal Continuously Variable Transmission (HT-CVT) was established by CAXA solid design. The kinematics simulation of the HT-CVT was realized by replacing the traction drive of elasto-hydrodynamic lubrication (EHL) oil film with the contact constraint joints in ADAMS. The angular velocity curves of the power rollers and the output cone disk on the HT-CVT were obtained. Simulation results demonstrate the fluctuation of the angular velocities on the two power rollers and the output cone disk compares well with the conclusion derived from the actual gear ratio of the HT-CVT.

Structure Design and FE Analysis of a Newly Basketball Wheelchair

2008 ◽  
Vol 44-46 ◽  
pp. 685-690
Author(s):  
Lei Lei ◽  
Tian Min Guan ◽  
Li Jun Shan
Keyword(s):  
Three Dimensional ◽  
Work Conditions ◽  
Structure Design ◽  
Human Engineering ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Element Analysis ◽  
Engineering Theory ◽  
Development Level ◽  
The Finite Element Analysis

Based on the human engineering theory the structure of the new Basketball wheelchair is designed. And the three dimensional model is drawn by means of the PRO/E software after the design. Next, the finite element analysis computation on the wheelchair structure is completed under the four work conditions by I-DEAS software. The result shows that its intensity satisfies the operation requirements and proves that the new Basketball wheelchair is comfortable, safe and reliable. The research of this paper has a more vital significance for enhancing the performance of basketball wheelchair and the development level of sport wheelchair.

The Simulation of Stack-Manipulator to Aluminum-Ingot Based on ADAMS

2014 ◽  
Vol 541-542 ◽  
pp. 704-707
Author(s):  
Tian Chang Yao ◽  
Hai Tao Wu ◽  
Hong Bin Liu ◽  
Da Wei Xu ◽  
Jia Cheng Cai
Keyword(s):  
Product Development ◽  
Simulation Model ◽  
Contact Force ◽  
Three Dimensional ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Dynamic Simulations ◽  
Kinematic Data ◽  
Kinematics Simulation ◽  
Aluminum Ingot

The authors build the three-dimensional model of stack-manipulator to aluminum-ingot in SoildWorks,and then import the model into Adams to create a simulation model via the interface between them.Adams runs dynamic and kinematics simulation of the model to measure some kinematic data of manipulator and the contact force of gear part.The dynamic simulations have forecasted the performance of products based on the model well and show the importance of Adams in product development.

Kinematics Simulation on the Centre of Sliding Universal Joints

2012 ◽  
Vol 150 ◽  
pp. 201-204
Author(s):  
De Gong Chang ◽  
C.C. Wang ◽  
B. Zuo
Keyword(s):  
Three Dimensional ◽  
Displacement Velocity ◽  
Dimensional Model ◽  
Universal Joint ◽  
Three Dimensional Model ◽  
Kinematic Simulation ◽  
Kinematics Simulation ◽  
Before And After ◽  
Universal Joints

This paper based on the improved twin tripod sliding universal joint and let it has the determined movement output. And create the three-dimensional model of twin tripod sliding universal joint before and after improved in software pro/e, and then put it into the simulation module, carry out the kinematic simulation of the tripod center on coupling. Obtained the curves of displacement, velocity and acceleration for two kinds of tripod centers.

Kinematics Simulation Analysis of a Kind of Pedal Rehabilitation Robot

2014 ◽  
Vol 602-605 ◽  
pp. 848-852
Author(s):  
Wen Long Wang ◽  
Ji Rong Wang
Keyword(s):  
Lower Limb ◽  
Simulation Analysis ◽  
Three Dimensional ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
Movement Trajectory ◽  
Three Dimensional Model ◽  
Kinematics Simulation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

This paper describes the design of the gait mechanism of pedal lower limb rehabilitation robot based on people’s heel movement trajectory curve in the normal walking. It is established the kinematics mathematical model of a pedal lower limbs rehabilitation robot and the simplified three-dimensional model with Pro/e software, then it is simulated kinematics using ADAMS software. The simulation result is shown that this pedal lower limbs rehabilitation robot can achieve the expected rehabilitation exercise and run smoothly. Kinematics analysis and simulation of pedal rehabilitation robot is provided the necessary theoretical basis and parameters for the study of lower limb rehabilitation machinery.

Dynamic Response of Bridge Girder and Shear Keys Subjected to Pounding during Earthquakes

2013 ◽  
Vol 339 ◽  
pp. 515-519
Author(s):  
Lu He ◽  
Lu Zhang ◽  
Jia Yong Chen ◽  
Chu Dong Pan ◽  
Yu Xiang Liu
Keyword(s):  
Dynamic Response ◽  
Three Dimensional ◽  
The Finite Element Method ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Movement Characteristics ◽  
Shear Keys ◽  
Continuous Girder Bridge ◽  
Bridge Girder ◽  
Girder Bridge

Shear keys have been widely used to control the damage in abutments and piles during earthquakes. To investigate the dynamic response of bridge girder and traverse shear keys subjected to pounding, a three dimensional model of continuous girder bridge is developed in this study. With the assistance of the finite element method program ANSYS and the package LS-DYNA, the pounding between bridge girder and shear keys is simulated. Subsequently, the stress and displacement responses of the model are analyzed, and the movement characteristics are presented.

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