Configuration optimization and kinematic analysis of a wearable exoskeleton arm
文献类型：会议论文
| 作者 | Wang, Xuelin; Ding QC(丁其川) ; Xiao, Yongfei; Zhu, Yunhai; Zhao, Yongguo
|
| 出版日期 | 2017 |
| 会议名称 | 2017 International Conference on Robotics and Automation Sciences, ICRAS 2017 |
| 会议日期 | August 26-29, 2017 |
| 会议地点 | Hong Kong, Hong kong |
| 关键词 | s-wearable exoskeleton robots design parameters optimal configuration singularity workspace |
| 页码 | 124-128 |
| 通讯作者 | Zhu, Yunhai |
| 中文摘要 | In order to evaluate the kinematic performance and determine the proper design parameters, the kinematic characteristics of human upper-limb are modelled and analyzed in this paper. Based on the model, different mechanical configurations of wearable upper-limb exoskeleton robots are proposed and the singularity orientation in the upper limb workspace is analyzed. The optimal configuration of the shoulder mechanism without limiting the spherical-joint motion is determined to avoid the singularity in the control procedure. According to the configuration, the workspaces of the upper limb and the exoskeleton robots are simulated by the matlab software. And the results prove that the optimized configuration works well in the most frequently used workspace of human upper-limb. The optimizing method of singularity elimination is helpful for the configuration design and active control of upper limb exoskeleton system. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议录 | 2017 International Conference on Robotics and Automation Sciences, ICRAS 2017
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-3994-8 |
| WOS记录号 | WOS:000427143700025 |
| 源URL | [http://ir.sia.cn/handle/173321/21478]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China 2.Shandong Provincial Key Laboratory of Robot and Manufacturing Automation, Institute of Automation, Shandong Academy of Science, Jinan, Shandong, China |
| 推荐引用方式 GB/T 7714 | Wang, Xuelin,Ding QC,Xiao, Yongfei,et al. Configuration optimization and kinematic analysis of a wearable exoskeleton arm[C]. 见:2017 International Conference on Robotics and Automation Sciences, ICRAS 2017. Hong Kong, Hong kong. August 26-29, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。