TY - GEN
T1 - Kinematics Analysis of a New 3DOF Parallel Manipulator as Walking Rehabilitation Device
AU - Rios, Alejandra
AU - Hernandez, Eusebio
AU - Moreno, Jaime A.
AU - Keshtkar, Sajjad
AU - De La Garza, Ricardo
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/13
Y1 - 2018/11/13
N2 - In this paper, the analytical kinematic study of a new parallel platform-based walking rehabilitation device is presented. The study includes the derivation of closed-form expressions for the inverse Jacobian matrix of the mechanism and its time derivative. The evaluation of a numerical iterative scheme for the online solution of the forward kinematic problem is also presented. The Jacobian analysis for the manipulator is performed and then used for singularity and sensitivity analysis. In order to verify the formulations, the simulation results of the computation of inverse and forward kinematics for a typical walking trajectory are presented and the accuracy of a numerical solution to the forward kinematic problem is verified.
AB - In this paper, the analytical kinematic study of a new parallel platform-based walking rehabilitation device is presented. The study includes the derivation of closed-form expressions for the inverse Jacobian matrix of the mechanism and its time derivative. The evaluation of a numerical iterative scheme for the online solution of the forward kinematic problem is also presented. The Jacobian analysis for the manipulator is performed and then used for singularity and sensitivity analysis. In order to verify the formulations, the simulation results of the computation of inverse and forward kinematics for a typical walking trajectory are presented and the accuracy of a numerical solution to the forward kinematic problem is verified.
KW - Direct and inverse kinematics
KW - Parallel manipulator
KW - Singularity analysis
KW - Walking rehabilitation device
UR - http://www.scopus.com/inward/record.url?scp=85058496641&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2018.8533958
DO - 10.1109/ICEEE.2018.8533958
M3 - Contribución a la conferencia
AN - SCOPUS:85058496641
T3 - 2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2018
BT - 2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2018
Y2 - 5 September 2018 through 7 September 2018
ER -