On the Design of the Exoskeleton Arm with Decoupled Dynamics

机译：脱象动态的外骨骼手臂的设计

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This paper focuses on the design of a 2-DOF exoskeleton arm with decoupled dynamics. The goal is to simplify the controller design by reducing the effects of complicated manipulator dynamics. The added epicyclic gear train allows the optimal redistribution of kinetic energy, which leads to the linearization and decoupling of the dynamic equations. The determination of the parameters of the added links is based on eliminating coefficients of nonlinear terms in the manipulator's kinetic and potential energy equations. The suggested design methodology is illustrated by simulations carried out using the software ADAMS.

机译：本文重点介绍了具有去耦动力学的2-DOF外屏幕手臂的设计。目标是通过减少复杂的操纵器动态的影响来简化控制器设计。添加的环状齿轮系允许动能的最佳再分布，这导致动态方程的线性化和去耦。添加链路的参数的确定是基于在机械手的动力学和潜在能量方程中消除非线性术语的系数。建议的设计方法通过使用软件亚当斯进行的模拟来说明。

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《International Workshop on Medical and Service Robots》|2016年|310p|共8页
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V. Arakelian; Y. Aoustin; C. Chevallereau;
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中图分类 TP24-53;
关键词
Exoskeleton arm; Multibody system; Dynamic equations; Decoupling; Balancing; Epicyclic gear train;

机译：外骨骼臂;多体系;动态方程;解耦;平衡;行星齿轮系;

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专利

1. Decoupled Variable Structure Control Design for Trajectory Tracking on Mechatronic Arms [J] . Wen-Shyong Yu, Yuh-Hsin Chen IEEE Transactions on Control Systems Technology . 2005,第5期

机译：机械臂轨迹跟踪的解耦变结构控制设计
2. Isotropy of an upper limb exoskeleton and the kinematics and dynamics of the human arm [J] . Joel C. Perry, Janet M. Powell, Jacob Rosen Applied bionics and biomechanics . 2009,第2期

机译：上肢外骨骼的各向同性以及人体运动学和动力学
3. Isotropy of an Upper Limb Exoskeleton and the Kinematics and Dynamics of the Human Arm [J] . Joel C.Perry, Janet M.Powell, JacobRosen Applied bionics and biomechanics . 2009,第2期

机译：上肢外骨骼各向同性与人体运动学和动力学
4. On the Design of the Exoskeleton Arm with Decoupled Dynamics [C] . V. Arakelian, Y. Aoustin, C. Chevallereau International Workshop on Medical and Service Robots . 2016

机译：关于脱象动态的外骨骼手臂的设计
5. The design and control of uncertain manipulator arms with decoupled inertia matrix. [D] . Zhao, Xing. 1991

机译：解耦惯性矩阵的不确定机械臂设计与控制。
6. Dynamic Characteristics of Vertically Coupled Structures and the Design of a Decoupled Micro Gyroscope [O] . Bumkyoo Choi, Seung-Yop Lee, Taekhyun Kim, 2012

机译：垂直耦合结构的动力特性及解耦微型陀螺仪的设计
7. Design of a Decoupled Six-axis Force Sensor for Powered Lower Limb Exoskeleton [O] . Kai Yang, Shun Ma, Tianshuo Wang, 2016

机译：用于动力下肢外骨骼的解耦六轴力传感器的设计

On the Design of the Exoskeleton Arm with Decoupled Dynamics

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