Dynamic analysis of 7-DOF exoskeleton upper-limbed rehabilitation robot
文献类型：会议论文
| 作者 | Yang QZ(杨启志); Ma, Xinpo; Fang, Jiajia; Zhao XG(赵新刚) ; Song JP(宋俊朋); Gu, Jun; Zhao JH(赵金海)
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| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) |
| 会议日期 | June 8-12, 2015 |
| 会议地点 | Shenyang, China |
| 关键词 | Upper-limbed Rehabilitation robot MATLAB simulation Lagrange ADAMS simulation dynamics analysis |
| 页码 | 365-370 |
| 中文摘要 | Dynamic analysis has been playing a significant role in 7-DOF exoskeleton upper-limbed rehabilitation robot, which usually affects the choice of measurement and optimization. Firstly, functional balance method of the second Lagrange equations is applied to analyze dynamics, and the theoretical analysis of torque changing curve is drew by MATLAB in the state of uniform motion. Then, the three-dimensional entity model of the robot is imported into ADAMS to simulate dynamic, each joint driving torque changing curve is achieved in the condition of uniform motion. The correctness of the theoretical analysis and simulating analysis are verified. Finally, the maximum driving moment which provides a basis for the selection of motor and reducer is drew by ADAMS in the accelerated condition. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 3 |
| 会议录 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-4799-8730-6 |
| WOS记录号 | WOS:000380502300071 |
| 源URL | [http://ir.sia.cn/handle/173321/18511]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Yang QZ,Ma, Xinpo,Fang, Jiajia,et al. Dynamic analysis of 7-DOF exoskeleton upper-limbed rehabilitation robot[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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