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Dynamic analysis of 7-DOF exoskeleton upper-limbed rehabilitation robot
Yang QZ(杨启志); Ma, Xinpo; Fang, Jiajia; Zhao XG(赵新刚); Song JP(宋俊朋); Gu, Jun; Zhao JH(赵金海)
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期June 8-12, 2015
会议地点Shenyang, China
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码365-370
收录类别EI ; CPCI(ISTP)
EI收录号20161402187676
WOS记录号WOS:000380502300071
产权排序3
ISSN号2379-7711
ISBN号978-1-4799-8730-6
关键词Upper-limbed Rehabilitation Robot Matlab Simulation Lagrange Adams Simulation Dynamics Analysis
摘要Dynamic analysis has been playing a significant role in 7-DOF exoskeleton upper-limbed rehabilitation robot, which usually affects the choice of measurement and optimization. Firstly, functional balance method of the second Lagrange equations is applied to analyze dynamics, and the theoretical analysis of torque changing curve is drew by MATLAB in the state of uniform motion. Then, the three-dimensional entity model of the robot is imported into ADAMS to simulate dynamic, each joint driving torque changing curve is achieved in the condition of uniform motion. The correctness of the theoretical analysis and simulating analysis are verified. Finally, the maximum driving moment which provides a basis for the selection of motor and reducer is drew by ADAMS in the accelerated condition.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18511
专题机器人学研究室
作者单位1.Institute of Intelligent Robotics, School of Mechanical Engineering, Jiangsu University, China
2.School of Agricultural Equipment Engineering, Jiangsu University, Zhenjiang, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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GB/T 7714
Yang QZ,Ma, Xinpo,Fang, Jiajia,et al. Dynamic analysis of 7-DOF exoskeleton upper-limbed rehabilitation robot[C]. Piscataway, NJ, USA:IEEE,2015:365-370.
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