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SIIA Público
SISTEMA INTEGRAL DE INFORMACIÓN ACADÉMICA - PÚBLICO
Título del libro: 2018 15th International Conference On Electrical Engineering, Computing Science And Automatic Control (cce) Título del capítulo: Kinematics Analysis of a New 3DOF Parallel Manipulator as Walking Rehabilitation Device
Parallel manipulator; walking rehabilitation device; direct and inverse kinematics; singularity analysis
Resumen:
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.
