The Improvement of Structural and Real Time Control Performances for Mero Modular Walking Robots

Ion, Ion; Vlădăreanu, Luige; Munteanu, Radu I.; Munteanu, Mihai

doi:10.1142/9789812770189_0031

Cited by 2 publications

(2 citation statements)

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“…There are many algorithms in mechanism optimization, as in [12], [13], and [14], in this paper POE and the Paden-Kahan sub-problem used to solve the problem. When…”

Section: The Structure and Movement Mode Of Shoulder Jointmentioning

confidence: 99%

Optimizing method of mechanism angle of upper limb rehabilitation robot at glenohumeral joint

Wang

Yan

Wang

et al. 2019

PEN

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At present, there are seventy million stroke patients in China and annual death toll of stroke is 1 million 650 thousand people. The survivors about 75% become disabled persons and lose the ability to move. To address this issue, a kind of rehabilitation exoskeleton robot called YANARM is proposed which for training of shoulder complex. This paper, a kind of method for optimizing the angle parameters of series dynamic axes under given workspace conditions is presented. The forward and inverse kinematics solutions of glenohumeral mechanism are solved based on the exponential product formula (POE) and the Paden-Kahan sub-problem. The range of joint rotation angle can be inversely solved according to the end of the arm position at the borderline of the workspace. A curve between the angle and the CP which equal mean variance of joint rotation range plus sum of all joint rotation ranges is solved. The mechanism angle of glenohumeral joint is optimized by this method.

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“…There are many algorithms in mechanism optimization, as in [12], [13], and [14], in this paper POE and the Paden-Kahan sub-problem used to solve the problem. When…”

Section: The Structure and Movement Mode Of Shoulder Jointmentioning

confidence: 99%

Optimizing method of mechanism angle of upper limb rehabilitation robot at glenohumeral joint

Wang

Yan

Wang

et al. 2019

PEN

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“…By analyzing the technical datasheets of the already manufactured industrial robots, we can note that the main classification criterion is the number of degrees of mobility, respectively the number of independent movements, of independent kinematic axes. Since the structure of a serial industrial robot has been imposed by positioning and targeting an object in a three-orthogonal space, it has initially been determined that the number of independent movements required is 6: 3 independent positioning movements and 3 independent orientation movements [1], [2 ]. Thus, we obtained the structural synthesis of open series cinematic chains with 3 or 6 independent movements.…”

Section: Introductionmentioning

confidence: 99%

Redundant serial industrial robots class-structural synthesis and useful configuration

Stareţu

2019

PEN

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For the first, the industrial serial robots can be classified according the number of mobility degrees or independent movements, the number of independent kinematic axes, the shape of the workspace, the value of the useful load, the precision of touching a predetermined point, etc. The number of degrees of mobility directly determines the structure of the kinematic chain corresponding to the robot and implicitly its construction, functionality and utility. In this paper, we define the class of redundant industrial serial robots. For the redundant industrial serial robots the structural synthesis method is presented and for each type of representative examples of structures are given.

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The Improvement of Structural and Real Time Control Performances for Mero Modular Walking Robots

Cited by 2 publications

References 0 publications

Optimizing method of mechanism angle of upper limb rehabilitation robot at glenohumeral joint

Optimizing method of mechanism angle of upper limb rehabilitation robot at glenohumeral joint

Redundant serial industrial robots class-structural synthesis and useful configuration

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