Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial Leg
Accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. Regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to...
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| Format: | Article |
| Language: | English |
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Islamic Azad University-Isfahan (Khorasgan) Branch
2017-01-01
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| Series: | International Journal of Advanced Design and Manufacturing Technology |
| Subjects: | |
| Online Access: | https://admt.isfahan.iau.ir/article_534974_d4c457352535189ec2ccfd3bee80f257.pdf |
| _version_ | 1827791084532531200 |
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| author | Ebrahim Shahabi MirAmin Hosseini |
| author_facet | Ebrahim Shahabi MirAmin Hosseini |
| author_sort | Ebrahim Shahabi |
| collection | DOAJ |
| description | Accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. Regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need. The cable robots are the kinds of robots that the cable is used instead of rigid link. The cable robots have a simple appearance that some cables connect the motors to the final organ. In this research a robot with cable mover is designed and modeled as a tool in the case of creating movement with the most accordance for an artificial organ below the knee. In addition, in this mechanism some advantages are also considered including creating movement in two axes, its cheapness and lightness. In this research at first a primary design of the artificial organ is presented. The forward and inverse kinematic relations which are dominant on system are explained, in fact you can find different features with kinematic robots like dexterity, global condition, local condition, etc, and finally we study the available workspace for the system. Workspace in cable robots is different from other parallel robots, in this paper, first description about some methods for finding workspace in cable-driven-robots and then use of force-closure workspace to find workspace for this system are presented. |
| first_indexed | 2024-03-11T17:42:12Z |
| format | Article |
| id | doaj.art-ba2dd6a040964085a459ccaa15b6bbdd |
| institution | Directory Open Access Journal |
| issn | 2252-0406 2383-4447 |
| language | English |
| last_indexed | 2024-03-11T17:42:12Z |
| publishDate | 2017-01-01 |
| publisher | Islamic Azad University-Isfahan (Khorasgan) Branch |
| record_format | Article |
| series | International Journal of Advanced Design and Manufacturing Technology |
| spelling | doaj.art-ba2dd6a040964085a459ccaa15b6bbdd2023-10-18T09:20:10ZengIslamic Azad University-Isfahan (Khorasgan) BranchInternational Journal of Advanced Design and Manufacturing Technology2252-04062383-44472017-01-0193110534974Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial LegEbrahim Shahabi0MirAmin Hosseini1Department of Mechanical Engineering, Sari Branch, Islamic Azad University, Sari, IranDepartment of Mechanical Engineering, University of Mazandaran, IranAccommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. Regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need. The cable robots are the kinds of robots that the cable is used instead of rigid link. The cable robots have a simple appearance that some cables connect the motors to the final organ. In this research a robot with cable mover is designed and modeled as a tool in the case of creating movement with the most accordance for an artificial organ below the knee. In addition, in this mechanism some advantages are also considered including creating movement in two axes, its cheapness and lightness. In this research at first a primary design of the artificial organ is presented. The forward and inverse kinematic relations which are dominant on system are explained, in fact you can find different features with kinematic robots like dexterity, global condition, local condition, etc, and finally we study the available workspace for the system. Workspace in cable robots is different from other parallel robots, in this paper, first description about some methods for finding workspace in cable-driven-robots and then use of force-closure workspace to find workspace for this system are presented.https://admt.isfahan.iau.ir/article_534974_d4c457352535189ec2ccfd3bee80f257.pdfartificial organscable robotsforward and inverse kinematicneural network |
| spellingShingle | Ebrahim Shahabi MirAmin Hosseini Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial Leg International Journal of Advanced Design and Manufacturing Technology artificial organs cable robots forward and inverse kinematic neural network |
| title | Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial Leg |
| title_full | Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial Leg |
| title_fullStr | Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial Leg |
| title_full_unstemmed | Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial Leg |
| title_short | Kinematic Synthesis of a Novel Parallel Cable Robot as Artificial Leg |
| title_sort | kinematic synthesis of a novel parallel cable robot as artificial leg |
| topic | artificial organs cable robots forward and inverse kinematic neural network |
| url | https://admt.isfahan.iau.ir/article_534974_d4c457352535189ec2ccfd3bee80f257.pdf |
| work_keys_str_mv | AT ebrahimshahabi kinematicsynthesisofanovelparallelcablerobotasartificialleg AT miraminhosseini kinematicsynthesisofanovelparallelcablerobotasartificialleg |