Kinematics and workspace analysis of a modified portable exoskeleton arm

2019 The 5th International Conference on Electrical Engineering, Control and Robotics

无线电电子学;计算机科学

Yongfei, Xiao^1 ; Xinpeng, Zhai^1^2 ; Xiaochun, Fu^1^2 ; Xiangjing, Ji^1^2

Institute of Automation, Qilu University of Technology(Shandong Academic of Science), Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Jinan, China^1

School of Electrical Engineering of Qilu University of Technology Shandong Academy of Science, Jinan, China^2

关键词: Application scenario;    Exoskeleton arms;    Exoskeleton mechanism;    Kinematic Theory;    Matlab- software;    Mechanical structures;    Shoulder joints;    Workspace analysis;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/533/1/012033/pdf
DOI  :  10.1088/1757-899X/533/1/012033

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

In order to solve the problems such as small workspace, complicated mechanical structure and motion interferences of traditional exoskeleton arm, a modified exoskeleton mechanism is proposed by optimizing the angles between the shoulder joint axes. In this paper, the model of traditional exoskeleton arm and the modified one are both built. And the kinematic theory of the two models is analysed and discussed. Furthermore, the Monte Carlo method is used to simulate the workspace of the mechanism with the help of the Matlab software. The simulation results show that the modified exoskeleton arm has larger workspace than the traditional one. So it can better meet the needs of more application scenarios.