Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial Leg
Publish place: International Journal of Advanced Design and Manufacturing Technology، Vol: 9، Issue: 3
Publish Year: 1395
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_ADMTL-9-3_001
تاریخ نمایه سازی: 18 اردیبهشت 1400
Abstract:
Accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. Regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need. The cable robots are the kinds of robots that the cable is used instead of rigid link. The cable robots have a simple appearance that some cables connect the motors to the final organ. In this research a robot with cable mover is designed and modeled as a tool in the case of creating movement with the most accordance for an artificial organ below the knee. In addition, in this mechanism some advantages are also considered including creating movement in two axes, its cheapness and lightness. In this research at first a primary design of the artificial organ is presented. The forward and inverse kinematic relations which are dominant on system are explained, in fact you can find different features with kinematic robots like dexterity, global condition, local condition, etc, and finally we study the available workspace for the system. Workspace in cable robots is different from other parallel robots, in this paper, first description about some methods for finding workspace in cable-driven-robots and then use of force-closure workspace to find workspace for this system are presented.
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Authors
Ebrahim Shahabi
Department of Mechanical Engineering, Sari Branch, Islamic Azad University, Sari, Iran
MirAmin Hosseini
Department of Mechanical Engineering, University of Mazandaran, Iran
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