Research on kinematics of assistant robot based on vector product method

被引：0
|
作者：
Xing, Jiazhen [1 ]
Wang, Zhongmin [1 ]
Qi, Yuming [1 ]
Deng, Sanpeng [1 ]
机构：
[1] Institute of Mechatronics Engineering, Tianjin University of Technology and Education, Tianjin, 300222, China
来源：
Key Engineering Materials | 2014年 / 621卷
关键词：
Robots - Kinematics - Exoskeleton (Robotics) - Machine design - Jacobian matrices;
D O I：
10.4028/www.scientific.net/KEM.621.493
中图分类号：
学科分类号：
摘要：
To the world population aging serious problem, a research on assistant robot is more and more attention. Assistant Robot is a device that is similar to human exoskeleton. This device is worn by the operator, and keep consistent with the human walking and replace body to undertake cargo load. In this paper, based on the method of vector product, a 3-DOF assistant robot's motion is analyzed. Jacobi matrix of robot motion is calculated. According to the experimental data from human walking, the assistant robot's displacement and velocity vector and variation are simulated, and its variation are also analyzed. In theory, it proved that the velocity and displacement curves are continuous and smooth. Besides, it also provides references for control system design of the assistant robot. © (2014) Trans Tech Publications, Switzerland.
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页码：493 / 498
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