Dynamic Model of a Parallel Robot Type 3UPS + 1RPU for Knee Rehabilitation

Abstract:

In this work, the dynamic model of a parallel robot for knee rehabilitation (type 3UPS + 1RPU) is developed by applying the Gibbs Appell methodology. The compatibility of the kinematic behavior was analyzed by computing the residuals between the position of the linear actuators of the robot calculated from the dynamic model and the positions measured running simulations in ADAMS. The trajectories employed for the compatibility test are based on movements for knee rehabilitation. These movements are hip flexion and knee flexion-extension. The results are quantified by calculating the mean square error.

Año de publicación:

2018

Keywords:

• Knee Rehabilitation
• co-simulation
• Parallel Robot
• Dynamic model

Fuente:

scopus