Name
Abstract | ||
|---|---|---|
This article mainly analyzes the movement principle of the human upper limb from the practical point of view. According to the structural characteristics and functional requirements of the human upper-limb, a structural scheme of the upper limb assist robot is designed. Using the link coordinate system method, a simplified diagram of the link coordinate system of the upper-body assist robot was established, and the kinematics model of the robot was constructed. The robot was studied for forward kinematics and inverse kinematics, and derived the robot Jacobian matrix. The graphic method was used to analyze the workspace and the effect of the size of the robot's workspace and the length of the rod on the workspace was illustrated. Finally, the robot was simulated by MATLAB software, which verifies the rationality and correctness of the robot structure design and movement analysis, and provides theoretical and data basis for the follow-up research of the robot. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/IISR.2018.8535651 | 2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR) |
Keywords | DocType | ISBN |
structural characteristics,human upper-limb,structural scheme,upper-body assist robot,forward kinematics,inverse kinematics,robot Jacobian matrix,robot structure design,upper-limb assist robot,human upper limb,link coordinate system method,graphic method,robots workspace,Matlab software,movement analysis | Conference | 978-1-5386-5548-1 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xiaolei Cao | 1 | 0 | 0.34 |
| Hui Li | 2 | 0 | 1.35 |
| Qiang Huang | 3 | 6 | 4.15 |
| Jianning Hua | 4 | 0 | 0.34 |
| Peng Sun | 5 | 0 | 0.34 |
| Rufen Wang | 6 | 0 | 0.34 |