Kinematics analysis of the 5-DOF rehabilitant mechanical arm

Guang Ming Lu; Li Ning Sun; Bo Zhang

Kinematics analysis of the 5-DOF rehabilitant mechanical arm

Guang Ming Lu^*
, Li Ning Sun
, Bo Zhang

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

The rehabilitating robot is one of the focus-researching projects at present. The solutions of the mechanical arm's kinematics equation as well as the Jacobin matrix were set up according to the 5-DOF rehabilitant mechanical arm. It also utilized the method of ADAMS to simulate and make sure the positions and speeds of the mechanical arm at any time and the relation between each part within the arm. It offered important data for the actual intellective control of rehabilitating robot.

Original language	English
Pages (from-to)	698-701
Number of pages	4
Journal	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
Volume	38
Issue number	5
State	Published - May 2006

Keywords

ADAMS simulation
Kinematics analysis
Mechanical arm
Rehabilitating robot

Cite this

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title = "Kinematics analysis of the 5-DOF rehabilitant mechanical arm",

abstract = "The rehabilitating robot is one of the focus-researching projects at present. The solutions of the mechanical arm's kinematics equation as well as the Jacobin matrix were set up according to the 5-DOF rehabilitant mechanical arm. It also utilized the method of ADAMS to simulate and make sure the positions and speeds of the mechanical arm at any time and the relation between each part within the arm. It offered important data for the actual intellective control of rehabilitating robot.",

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AU - Lu, Guang Ming

AU - Sun, Li Ning

AU - Zhang, Bo

PY - 2006/5

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N2 - The rehabilitating robot is one of the focus-researching projects at present. The solutions of the mechanical arm's kinematics equation as well as the Jacobin matrix were set up according to the 5-DOF rehabilitant mechanical arm. It also utilized the method of ADAMS to simulate and make sure the positions and speeds of the mechanical arm at any time and the relation between each part within the arm. It offered important data for the actual intellective control of rehabilitating robot.

AB - The rehabilitating robot is one of the focus-researching projects at present. The solutions of the mechanical arm's kinematics equation as well as the Jacobin matrix were set up according to the 5-DOF rehabilitant mechanical arm. It also utilized the method of ADAMS to simulate and make sure the positions and speeds of the mechanical arm at any time and the relation between each part within the arm. It offered important data for the actual intellective control of rehabilitating robot.

KW - ADAMS simulation

KW - Kinematics analysis

KW - Mechanical arm

KW - Rehabilitating robot

UR - https://www.scopus.com/pages/publications/33746509106

M3 - 文章

AN - SCOPUS:33746509106

SN - 0367-6234

VL - 38

SP - 698

EP - 701

JO - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

JF - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

IS - 5

ER -

Kinematics analysis of the 5-DOF rehabilitant mechanical arm

Abstract

Keywords

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