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KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE

Year 2015, Volume: 11 Issue: 2, 52 - 69, 21.01.2016

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.

Özgün SELVİ1, Hasan AL-DULAİMİ2

Year 2015, Volume: 11 Issue: 2, 52 - 69, 21.01.2016

Abstract

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Details

Primary Language English
Journal Section Articles
Authors

Özgün Selvi

Hasan Al-dulaimi This is me

Publication Date January 21, 2016
Published in Issue Year 2015 Volume: 11 Issue: 2

Cite

APA Selvi, Ö., & Al-dulaimi, H. (2016). KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE. Journal of Naval Sciences and Engineering, 11(2), 52-69.