Study on gravity calculation method of integration about an upper extremity exoskeleton and loads

Lin Feng; Qiuzhi Song; Zhuo Qi; Xin Wang

doi:10.1088/1757-899X/612/2/022064

Study on gravity calculation method of integration about an upper extremity exoskeleton and loads

Lin Feng, Qiuzhi Song^*, Zhuo Qi, Xin Wang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Conference article › peer-review

Abstract

The gravity center of integration about the upper extremity exoskeleton and loads has a great impact on the balance control of the systemic exoskeleton system. In this paper, a new method is presented to calculate the gravity of the integration. First, build a model of the upper extremity exoskeleton by standard D-H method, analyze the model by kinematics and then obtain the function of the gravity center by analyzing the relationship between the structure parameters, joint angles and gravity center of the integration. Second, simulate each curve of the gravity center with lifting the load of 0, 10KG and 20KG under a specific trajectory determined by cycloid interpolation method. This paper lays a foundation to study on the balance control of the systemic exoskeleton system.

Original language	English
Article number	022064
Journal	IOP Conference Series: Materials Science and Engineering
Volume	612
Issue number	2
DOIs	https://doi.org/10.1088/1757-899X/612/2/022064
Publication status	Published - 21 Oct 2019
Event	2019 6th International Conference on Advanced Composite Materials and Manufacturing Engineering, ACMME 2019 - Xishuangbanna, Yunnan, China Duration: 22 Jun 2019 → 23 Jun 2019

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title = "Study on gravity calculation method of integration about an upper extremity exoskeleton and loads",

abstract = "The gravity center of integration about the upper extremity exoskeleton and loads has a great impact on the balance control of the systemic exoskeleton system. In this paper, a new method is presented to calculate the gravity of the integration. First, build a model of the upper extremity exoskeleton by standard D-H method, analyze the model by kinematics and then obtain the function of the gravity center by analyzing the relationship between the structure parameters, joint angles and gravity center of the integration. Second, simulate each curve of the gravity center with lifting the load of 0, 10KG and 20KG under a specific trajectory determined by cycloid interpolation method. This paper lays a foundation to study on the balance control of the systemic exoskeleton system.",

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T1 - Study on gravity calculation method of integration about an upper extremity exoskeleton and loads

AU - Feng, Lin

AU - Song, Qiuzhi

AU - Qi, Zhuo

AU - Wang, Xin

PY - 2019/10/21

Y1 - 2019/10/21

N2 - The gravity center of integration about the upper extremity exoskeleton and loads has a great impact on the balance control of the systemic exoskeleton system. In this paper, a new method is presented to calculate the gravity of the integration. First, build a model of the upper extremity exoskeleton by standard D-H method, analyze the model by kinematics and then obtain the function of the gravity center by analyzing the relationship between the structure parameters, joint angles and gravity center of the integration. Second, simulate each curve of the gravity center with lifting the load of 0, 10KG and 20KG under a specific trajectory determined by cycloid interpolation method. This paper lays a foundation to study on the balance control of the systemic exoskeleton system.

AB - The gravity center of integration about the upper extremity exoskeleton and loads has a great impact on the balance control of the systemic exoskeleton system. In this paper, a new method is presented to calculate the gravity of the integration. First, build a model of the upper extremity exoskeleton by standard D-H method, analyze the model by kinematics and then obtain the function of the gravity center by analyzing the relationship between the structure parameters, joint angles and gravity center of the integration. Second, simulate each curve of the gravity center with lifting the load of 0, 10KG and 20KG under a specific trajectory determined by cycloid interpolation method. This paper lays a foundation to study on the balance control of the systemic exoskeleton system.

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DO - 10.1088/1757-899X/612/2/022064

M3 - Conference article

AN - SCOPUS:85074520048

SN - 1757-8981

VL - 612

JO - IOP Conference Series: Materials Science and Engineering

JF - IOP Conference Series: Materials Science and Engineering

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T2 - 2019 6th International Conference on Advanced Composite Materials and Manufacturing Engineering, ACMME 2019

Y2 - 22 June 2019 through 23 June 2019

ER -

Study on gravity calculation method of integration about an upper extremity exoskeleton and loads

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