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Paper WeB01.3

Yu, Yong (Kagoshima University), LIANG, WenYuan (University of Science and Technology of China)

Design Optimization for Parallel Mechanism Using on Human Hip Joint Power Assisting Based on Manipulability Inclusive Principle

Scheduled for presentation during the Regular Session "Parallel Robots" (WeB01), Wednesday, May 16, 2012, 11:00−11:15, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 19, 2017

Keywords Parallel Robots, Kinematics, Mechanism Design of Manipulators

Abstract

This paper summarizes the design optimization of a parallel mechanism using on human hip joint power assisting. Manipulability Inclusive Principle (MIP) evaluation criterion for evaluating assisting mechanism's assisting feasibility and assisting effect is proposed. The design of parallel assisting mechanism and building kinematical Jacobian are discussed. Moreover, as an important part of this paper, in order to finding out a architecture, which can satisfy assisting feasibility and realize higher assisting efficiency, more assisting ability and better feature on assisting isotropy, design optimization MIP is shown in this paper.

 

 

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