TY - JOUR
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
N1 - Publisher Copyright:
© 2019 Published under licence by IOP Publishing Ltd.
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.
UR - http://www.scopus.com/inward/record.url?scp=85074520048&partnerID=8YFLogxK
U2 - 10.1088/1757-899X/612/2/022064
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
IS - 2
M1 - 022064
T2 - 2019 6th International Conference on Advanced Composite Materials and Manufacturing Engineering, ACMME 2019
Y2 - 22 June 2019 through 23 June 2019
ER -