Modeling, Control and Analysis of a Serial And Parallelogram Lower Member Mechanism

Uribe, Alvaro; Rosírio, João; Frezzatto, Luciano
July 2011
International Review of Mechanical Engineering;Jul2011, Vol. 5 Issue 5, p952
Academic Journal
This work presents the modeling, control and analysis of a serial and parallelogram mechanisms for designing a lower member assisting motion device. Current most known developments do not cover a wide range of population due to costs, requirements and availability of these devices. The robotics impact on improving health care through rehabilitation or motion assisting devices has been increasing as the technological trends have advanced in recent years. The methodology taken for developing this work starts with the mechanism design, so mechanical properties such as masses and inertias are known. This information allows performing the kinematics and dynamics analyses for choosing the actuator and control system while improving the mechanism design for executing gait and exercise motions. The validation of both mechanisms dynamics is accomplished through the analysis of the experimental torques obtained after simulation and the linearization of the model for implementing and tuning the control system.


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