Planar Model for Vibration Analysis of Cable Rehabilitation Robots

被引：7

作者：

Zuccon, Giacomo ^{[1
]}

Doria, Alberto ^{[1
]}

Bottin, Matteo ^{[1
]}

Rosati, Giulio ^{[1
]}

机构：

[1] Univ Padua, Dept Ind Engn, Via Venezia 1, I-35131 Padua, Italy

来源：

ROBOTICS | 2022年 / 11卷 / 06期

关键词：

cable-driven robot; rehabilitation robotics; medical robot; magnetic hook; modal analysis; vibrations; EXOSKELETON;

D O I：

10.3390/robotics11060154

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Cable robots are widely used in the field of rehabilitation. These robots differ from other cable robots because the cables are rather short and are usually equipped with magnetic hooks to improve the ease of use. The vibrations of rehabilitation robots are dominated by the effects of the hooks and payloads, whereas the cables behave as massless springs. In this paper, a 2D model of the cables of a robot that simulates both longitudinal and transverse vibrations is developed and experimentally validated. Then the model is extended to simulate the vibrations of an actual 3D robot in the symmetry planes. Finally, the calculated modal properties (natural frequencies and modes of vibration) are compared with the typical spectrum of excitation due to the cable's motion. Only the first transverse mode can be excited during the rehabilitation exercise.

引用

页数：17

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