Kinematic Analysis Of A 5 Dof Overconstrained Manipulator For Rehabilitation Of Upper Extremite
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Date
2015
Authors
Al-dulaimi, Hasan
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Abstract
This study deals with one of the applications of parallel manipulator as a rehabilitation robot. This device is an over –constrained parallel manipulator 5 degree of freedom with 3 legs. This manipulator consists of a moving platform which is connected to a fixed base via three legs. Each leg is made of RRR(RR) (revolute) joints where the first three joint in all legs are parallel and the recent two joint are intersecting .Inverse kinematics of this device is solved by dividing manipulator into two sub-manipulators with the help of three imaginary joints placed at the intersection of platform joints with a direction parallel to base joints.
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Keywords
Overconstrained Manipulators, Rehabilitation, Inverse Kinematic Analysis
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Citation
Selvi, Özgün; Al-dulaimi, Hasan. (2015). "Kinematic Analysis Of A 5 Dof Overconstrained Manipulator For Rehabilitation Of Upper Extremite", Journal of Naval Sciences and Engineering, Vol.11, No.2, pp.52-69.
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Source
Journal of Naval Sciences and Engineering
Volume
11
Issue
2
Start Page
52
End Page
69