Design, Kinematics and Dynamics Modeling of a Lower-limb Walking Assistant Robot

被引：0

作者：

Nasrabadi, Ali A. Mohammadi ^{[1
]}

Absalan, Farshid ^{[1
]}

Moosavian, S. Ali A. ^{[1
]}

机构：

[1] KN Toosi Univ Technol, Dept Mech Engn, Ctr Excellence Robot & Control, Adv Robot & Automated Syst ARAS Lab, Tehran, Iran

来源：

2016 4TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2016年

关键词：

Exoskeleton; rehabilitation; walking assistant; dynamics modeling; Legged robot; SPINAL-CORD; EXOSKELETON;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper focuses on a lower limb walking assistant robot. This robot has been designed and modeled for two tasks of facilitating healthy people, and assisting patients for walking. First, basic concepts of the motion mechanism are presented. Next, its kinematics and dynamics equations have been developed. Kinematics analysis has been done using Denavit-Hartenberg scheme to obtain position, velocity and acceleration of center of mass (COM) of all links. Dynamics equations have been developed using recursive Lagrange method and finally inverse dynamics problem has been solved. Obtained simulation results will be discussed which validate the proposed model.

引用

页码：319 / 324

页数：6

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