A B S T R A C TA hybrid machine (HM) is a system integrating two types of motor; servo and constant velocity with a mechanism. The purpose is to make use of the energy in the system efficiently with a flexible system having more than one degree of freedom (DOF). A review is included on hybrid press systems. This study is included as a part of an industrial project used for metal forming. The system given here includes a 7 link mechanism, one of link is driven by a constant velocity motor (CV) and the other is driven by a servo motor (SM). Kinematics analysis of the hybrid driven mechanism is presented here as inverse kinematics analysis. Motion design is very crucial step when using a hybrid machine. So motion design procedure is given with motion curve examples needed. Curve Fitting Toolbox (CFT) in Matlab® is offered as an auxiliary method which can be successfully applied. Motion characteristics are chosen by looking at requirements taken from metal forming industry. Results are then presented herein.
Abstract. This paper presents a new exoskeleton design for wrist and forearm
rehabilitation. The contribution of this study is to offer a methodology
which shows how to adapt a serial manipulator that reduces the number of
actuators used on exoskeleton design for the rehabilitation. The system
offered is a combination of end-effector- and exoskeleton-based devices. The
passive exoskeleton is attached to the end effector of the manipulator, which
provides motion for the purpose of rehabilitation process. The Denso VP
6-Axis Articulated Robot is used to control motion of the exoskeleton during
the rehabilitation process. The exoskeleton is designed to be used for both
wrist and forearm motions. The desired moving capabilities of the exoskeleton
are flexion–extension (FE) and adduction–abduction (AA) motions for the
wrist and pronation–supination (PS) motion for the forearm. The anatomical
structure of a human limb is taken as a constraint during the design. The
joints on the exoskeleton can be locked or unlocked manually in order to
restrict or enable the movements. The parts of the exoskeleton include
mechanical stoppers to prevent the excessive motion. One passive degree of
freedom (DOF) is added in order to prevent misalignment problems between the
axes of FE and AA motions. Kinematic feedback of the experiments is performed
by using a wireless motion tracker assembled on the exoskeleton. The results
proved that motion transmission from robot to exoskeleton is satisfactorily
achieved. Instead of different exoskeletons in which each axis is driven and
controlled separately, one serial robot with adaptable passive exoskeletons
is adequate to facilitate rehabilitation exercises.
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