Motion simulation of a hybrid parallel robot for ankle rehabilitation

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Authors

Colleges, School and Institutes

Abstract

This paper addresses the path planning of a hybrid parallel robot for ankle rehabilitation. The robot contains 3- DOF parallel mechanism that is attached on top of the 6- DOF hexapod. The 6-UPU-3-UPR parallel robot is developed to simulate ankle motions for the rehabilitation of post-stroke patients with an affected ankle. The inverse kinematic of hybrid parallel robot is developed in order to track the end-effector's position through Matlab software. The calculated stroke size of each actuator is imported to apply the forward kinematic for determining the position of end-effector. The experimental and simulation values of the hexapod are compared with those of the hybrid structure through a number of exercise motion paths. The results reveal that, in general, the simulation values follow well the experimental values, although with different degrees of variation for each of the structures considered.

Details

Original languageEnglish
Title of host publicationEngineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics
Publication statusPublished - 2014
EventASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014 - Copenhagen, Denmark
Duration: 25 Jul 201427 Jul 2014

Publication series

NameASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014
Volume3

Conference

ConferenceASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014
CountryDenmark
CityCopenhagen
Period25/07/1427/07/14