TY - GEN
T1 - Study on Structure Design and Simulation of Upper-Limb Assist Robot
AU - Xiaolei, Cao
AU - Hui, Li
AU - Zhihong, Jiang
AU - Jianning, Hua
AU - Peng, Sun
AU - Rufen, Wang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/14
Y1 - 2018/11/14
N2 - This article mainly analyzes the movement principle of the human upper limb from the practical point of view. According to the structural characteristics and functional requirements of the human upper-limb, a structural scheme of the upper limb assist robot is designed. Using the link coordinate system method, a simplified diagram of the link coordinate system of the upper-body assist robot was established, and the kinematics model of the robot was constructed. The robot was studied for forward kinematics and inverse kinematics, and derived the robot Jacobian matrix. The graphic method was used to analyze the workspace and the effect of the size of the robot's workspace and the length of the rod on the workspace was illustrated. Finally, the robot was simulated by MATLAB software, which verifies the rationality and correctness of the robot structure design and movement analysis, and provides theoretical and data basis for the follow-up research of the robot.
AB - This article mainly analyzes the movement principle of the human upper limb from the practical point of view. According to the structural characteristics and functional requirements of the human upper-limb, a structural scheme of the upper limb assist robot is designed. Using the link coordinate system method, a simplified diagram of the link coordinate system of the upper-body assist robot was established, and the kinematics model of the robot was constructed. The robot was studied for forward kinematics and inverse kinematics, and derived the robot Jacobian matrix. The graphic method was used to analyze the workspace and the effect of the size of the robot's workspace and the length of the rod on the workspace was illustrated. Finally, the robot was simulated by MATLAB software, which verifies the rationality and correctness of the robot structure design and movement analysis, and provides theoretical and data basis for the follow-up research of the robot.
UR - http://www.scopus.com/inward/record.url?scp=85059066066&partnerID=8YFLogxK
U2 - 10.1109/IISR.2018.8535651
DO - 10.1109/IISR.2018.8535651
M3 - Conference contribution
AN - SCOPUS:85059066066
T3 - 2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
SP - 303
EP - 308
BT - 2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
Y2 - 24 August 2018 through 27 August 2018
ER -