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
来源：
Key Engineering Materials | 2014年 / 621卷
关键词：
Assistant robot; Jacobin matrix; Kinematics; Vector product;
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.
引用
收藏
页码：493 / 498
页数：5
相关论文
共 50 条
  • [41] Toward Unified Adaptive Teleoperation Based on Damping ZNN for Robot Manipulators With Unknown Kinematics
    Tan, Ning
    Yu, Peng
    Zhang, Mao
    Li, Changsheng
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2023, 70 (09) : 9227 - 9236
  • [42] Modelling and Simulation of Forward Kinematics for Planar 3-DOF Parallel Robot Based on Simulink
    Dang, Xiaozheng
    Zhou, Liangsheng
    Liao, Lingping
    Liang, Dong
    [J]. ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY III, PTS 1-4, 2013, 397-400 : 1552 - +
  • [43] Research on motion simulation for robot based on virtual reality
    Zhu, Lida
    Zhu, Chunxia
    Yang, Jianyu
    Yu, Tianbiao
    Shi, Jiashun
    Wang, Wanshan
    [J]. 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 1296 - 1300
  • [44] IoT Based Low Cost Smart Indoor Farming Management System Using an Assistant Robot and Mobile App
    Kabir, A. Z. M. Tahmidul
    Mizan, Al Mamun
    Debnath, Nirmal
    Ta-sin, Akib Jawad
    Zinnurayen, Nadim
    Haider, Md Tanvir
    [J]. 2020 10TH ELECTRICAL POWER, ELECTRONICS, COMMUNICATIONS, CONTROLS AND INFORMATICS SEMINAR (EECCIS), 2020, : 155 - 158
  • [45] A new method for optimum design of parallel manipulator based on kinematics and dynamics
    Jun Wu
    Liping Wang
    Zheng You
    [J]. Nonlinear Dynamics, 2010, 61 : 717 - 727
  • [46] A new method for optimum design of parallel manipulator based on kinematics and dynamics
    Wu, Jun
    Wang, Liping
    You, Zheng
    [J]. NONLINEAR DYNAMICS, 2010, 61 (04) : 717 - 727
  • [47] Research on Algebraic Configuration Description Method and kinematical modeling for Modular Robot
    Li, Xiao
    Sun, Hanxu
    Liao, Linjing
    Song, Jingzhou
    [J]. Proceedings of the 2016 6th International Conference on Advanced Design and Manufacturing Engineering (ICADME 2016), 2016, 96 : 272 - 275
  • [48] Simulation Research of A Six Degrees of Freedom Manipulator Kinematics based On MATLAB Toolbox
    Xiao, Junming
    Han, Wei
    Wang, Aihui
    [J]. 2017 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS), 2017, : 376 - 380
  • [49] The Research of Open CNC System Circular Interpolation Track Based on Kinetics and Kinematics
    Han, Xingguo
    Wang, Binwu
    Wang, Weiqing
    [J]. 2013 FIFTH INTERNATIONAL CONFERENCE ON MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION (ICMTMA 2013), 2013, : 1216 - 1218
  • [50] Kinematic Calibration for Serial Robots Based on a Vector Inner Product Error Model
    Liu, Fei
    Gao, Guanbin
    Na, Jing
    Zhang, Faxiang
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2025, 72 (03) : 2832 - 2841
12345