Kinematics and workspace analysis of a modified portable exoskeleton arm

In order to solve the problems such as small workspace, complicated mechanical structure and motion interferences of traditional exoskeleton arm, a modified exoskeleton mechanism is proposed by optimizing the angles between the shoulder joint axes. In this paper, the model of traditional exoskeleton...

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Bibliographic Details
Published in:IOP conference series. Materials Science and Engineering 2019-05, Vol.533 (1), p.12033
Main Authors: yongfei, Xiao, xinpeng, Zhai, xiaochun, Fu, xiangjing, Ji
Format: Article
Language:English
Subjects:
Exoskeletons
Kinematics
Monte Carlo simulation
Workspace
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Summary:In order to solve the problems such as small workspace, complicated mechanical structure and motion interferences of traditional exoskeleton arm, a modified exoskeleton mechanism is proposed by optimizing the angles between the shoulder joint axes. In this paper, the model of traditional exoskeleton arm and the modified one are both built. And the kinematic theory of the two models is analysed and discussed. Furthermore, the Monte Carlo method is used to simulate the workspace of the mechanism with the help of the Matlab software. The simulation results show that the modified exoskeleton arm has larger workspace than the traditional one. So it can better meet the needs of more application scenarios.
ISSN:1757-8981
1757-899X
DOI:10.1088/1757-899X/533/1/012033