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首页> 外文会议>Mechanisms and robotics conference;ASME international design engineering technical conferences and computers and information in engineering conference >PARALLEL ARTICULATED-CABLE EXERCISE ROBOT (PACER): NOVEL HOME-BASED CABLE-DRIVEN PARALLEL PLATFORM ROBOT FOR UPPER LIMB NEURO-REHABILITATION
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PARALLEL ARTICULATED-CABLE EXERCISE ROBOT (PACER): NOVEL HOME-BASED CABLE-DRIVEN PARALLEL PLATFORM ROBOT FOR UPPER LIMB NEURO-REHABILITATION

机译：并联电缆运动机器人（PACER）：用于上肢神经康复的新型家用电缆驱动并联平台机器人

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This paper examines the design, analysis and control of a novel hybrid articulated-cable parallel platform for upper limb rehabilitation in three dimensional space. The proposed lightweight, low-cost, modular reconfigurable parallel-architecture robotic device is comprised of five cables and a single linear actuator which connects a six degrees-of-freedom moving platform to a fixed base. This novel design provides an attractive architecture for implementation of a home-based rehabilitation device as an alternative to bulky and expensive serial robots. The manuscript first examines the kinematic analysis prior to developing the dynamic equations via the Newton-Euler formulation. Subsequently, different spatial motion trajectories are prescribed for rehabilitation of subjects with arm disabilities. A low-level trajectory tracking controller is developed to achieve the desired trajectory performance while ensuing that the unidirectional tensile forces in the cables are maintained. This is now evaluated via a simulation case-study and the development of a physical testbed is underway.
机译：本文研究了在三维空间中用于上肢康复的新型混合式铰接式电缆并联平台的设计，分析和控制。拟议的轻型，低成本，模块化可重构并行架构机器人设备由五根电缆和一个线性致动器组成，该线性致动器将六个自由度的移动平台连接到固定基座。这种新颖的设计为实施家庭康复设备提供了一种有吸引力的体系结构，以替代庞大而昂贵的串行机器人。在通过牛顿-欧拉公式制定动力学方程之前，手稿首先要检查运动学分析。随后，规定了不同的空间运动轨迹以使肢体残疾的受试者康复。开发了一种低水平的轨迹跟踪控制器，以实现所需的轨迹性能，同时确保维持电缆中的单向拉力。现在通过仿真案例研究对其进行评估，并且物理测试台的开发正在进行中。

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