Geometry and kinematic analysis of a redundantly actuated parallel mechanism for rehabilitation

2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007

Volumn 8 PART B, Issue , 2008, Pages 1081-1090

  Saglia, Jody A ^a   Dai, Jian S ^b  

^a POLITECNICO DI TORINO   (Italy)

^b KING'S COLLEGE LONDON   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM DESIGNS; FORWARD KINEMATICS (FK); IN ORDER; INTERNATIONAL DESIGNS; JACOBIAN; KINEMATIC ANALYSIS; MOVING PLATFORMS; PARALLEL MANIPULATORS; PARALLEL MECHANISM (PM); POSITION EQUATIONS; REHABILITATION (CONSTRUCTION); TECHNICAL CONFERENCES;

ARCHITECTURAL DESIGN; AUTOMATION; COMPUTER NETWORKS; COMPUTERS; CONTROL SYSTEM ANALYSIS; CONTROL THEORY; ENGINEERING; GEOMETRY; INFORMATION TECHNOLOGY; KINEMATICS; MANIPULATORS; MATHEMATICAL MORPHOLOGY; MECHANICS; MECHANISMS; PATIENT REHABILITATION; PROCESS DESIGN; PROCESS ENGINEERING; ROBOTICS; ROBOTS; SYSTEMS ANALYSIS; TECHNOLOGY;

MACHINE DESIGN;

EID: 44849105180     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2007-34938     Document Type: Conference Paper

References (13)

1. J.S. Dai, T. Zhao and C. Nester Sprained Ankle Physiotherapy Based Mechanism Synthesis and Stiffness Analysis of a Robotic Rehabilitation Device, 2004 Kluwer Academic Publishers, 2004.
2. J.S. Dai, Z. Huang and H. Lipkin, Mobility of Overconstrained Parallel Mechanisms, Transaction of the ASME: Journal of Mechanical Design, VOL. 128, January 2006.
3. J. P. Merlet, Determination of 6DWorkspaces of Gough-Type Parallel Manipulator and Comparison between Different Geometries, 1999 Sage Publications, Inc., The International Journal of Robotics Research Vol. 18, No. 9, September 1999, pp. 902-916.
4. A. K. Dashy, S. H. Yyeoy, G. Yangz and I-M. Cheny, Workspace Analysis and Singularity Representation of Three-legged Parallel Manipulators, Seventh International Conference on Control, Automation, Robotics and Vision, (ICARCV02), December 2002, Singapore.
5. J. A. Snyman, L. J. du Plessis and J. Duffy, An Optimization Approach to the Determination of the Boundaries of Manipulator Workspaces, Journal of Mechanical Design, Vol. 122 /pp. 447-456, December 2000.
6. L-W. Tsai, Robot Analysis: The Mechanism of Serial and Parallel Manipulators, Wiley-Interscience (John Wiley and Sons, INC), 1999.
7. L. Sukham, K. Sungbok, Kinematic Feature Analysis of Parallel Manipulator Systems, 1050-4729/94, 1994 IEEE.
8. Y. Li and Q. Xu, Kinematics and Dexterity Analysis for a Novel 3-DOF Translational Parallel Manipulator, Proceedings of the 2005 IEEE, International Conference on Robotics and Automation, Barcelona, Spain, April 2005.
9. D. Chablat, P. Wenger and J-P Merlet, A Comparative Study Between Two and Three-DOF Parallel Kinematics Machines using Kinetostatic Criteria and Interval Analysis, Proceedings of the 11th World Congress in Mechanism and Machine Science, Tianjin, China, 2003.
10. C. M. Gosselin, J. Angeles, Singularity Analysis of Closed-Loop Kinematic Chains., IEEE Transactions on Robotics and Automation, Vol. 21, No. 7, July 2002, pp. 649-659.
11. C. M. Gosselin, J. Wang, Singularity Loci of a Special Class of Spherical Three-Degree-of-Freedom Parallel Mechanisms with Revolute Joints., The International Journal of Robotics Research, Vol. 6, No. 3, June 1990.
12. J. P. Merlet, Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robot, Journal of Mechanical Design, Copyright 2006 by ASME, VOL. 128, January 2006.
13. R. Kurtz and V. Hayward Multiple-Goal Kinematic Optimization of a Parallel Spherical Mechanism with Actuator Redundancy, IEEE Transaction on Robotics and Automation, VOL. 8, NO. 5, October 1992.