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题名: Dynamic analysis of 7-DOF exoskeleton upper-limbed rehabilitation robot
作者: 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: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 365-370
收录类别: EI ; CPCI(ISTP)
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
产权排序: 3
WOS记录号: WOS:000380502300071
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18511
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Yang QZ,Ma, Xinpo,Fang, Jiajia,et al. Dynamic analysis of 7-DOF exoskeleton upper-limbed rehabilitation robot[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.
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文件名: Dynamic analysis of 7-DOF exoskeleton upper-limbed rehabilitation robot.pdf
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