Kinematics of a five degree-of-freedom prosthetic arm

被引：9
|
作者：
Wang, HB
Ishimatsu, T
Schaerer, C
Huang, Z
机构：
[1] Nagasaki Univ, Dept Mech Syst Engn, Nagasaki 852, Japan
[2] ETH Zurich, Inst Robot, CH-8092 Zurich, Switzerland
[3] Yanshan Univ, Dept Engn Mech, Qinhuangdao 066004, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 1998年 / 33卷 / 07期
关键词：
D O I：
10.1016/S0094-114X(97)00067-0
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The kinematics of a prosthetic arm consisting of a two-DOF multiloop spatial mechanism and a three-DOF series mechanism is described in this paper. In the beginning, the position analysis is discussed. After that the velocity and acceleration are analyzed. The forward and inverse formulas of velocity and acceleration are deduced using kinematic influence coefficient by means of hypothetic mechanism method and all formulas are obtained by explicit expressions of influence coefficient matrices that are the function of dimensional and positional parameters. Finally, a numerical example is calculated and the results of the calculation are verified by an equivalent plane mechanism. The method proposed in this paper may be expanded to the kinematic analysis of any complex series-parallel mechanism. (C) 1998 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：895 / 908
页数：14
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