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KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE
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.
Keywords
Details
Primary Language
English
Subjects
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Journal Section
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Publication Date
January 21, 2016
Submission Date
January 21, 2016
Acceptance Date
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Published in Issue
Year 2015 Volume: 11 Number: 2
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. https://izlik.org/JA89NB59BN
AMA
1.Selvi Ö, Al-dulaimi H. KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE. JNSE. 2016;11(2):52-69. https://izlik.org/JA89NB59BN
Chicago
Selvi, Özgün, and Hasan Al-dulaimi. 2016. “KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE”. Journal of Naval Sciences and Engineering 11 (2): 52-69. https://izlik.org/JA89NB59BN.
EndNote
Selvi Ö, Al-dulaimi H (January 1, 2016) KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE. Journal of Naval Sciences and Engineering 11 2 52–69.
IEEE
[1]Ö. Selvi and H. Al-dulaimi, “KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE”, JNSE, vol. 11, no. 2, pp. 52–69, Jan. 2016, [Online]. Available: https://izlik.org/JA89NB59BN
ISNAD
Selvi, Özgün - Al-dulaimi, Hasan. “KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE”. Journal of Naval Sciences and Engineering 11/2 (January 1, 2016): 52-69. https://izlik.org/JA89NB59BN.
JAMA
1.Selvi Ö, Al-dulaimi H. KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE. JNSE. 2016;11:52–69.
MLA
Selvi, Özgün, and Hasan Al-dulaimi. “KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE”. Journal of Naval Sciences and Engineering, vol. 11, no. 2, Jan. 2016, pp. 52-69, https://izlik.org/JA89NB59BN.
Vancouver
1.Özgün Selvi, Hasan Al-dulaimi. KINEMATIC ANALYSIS OF A 5 DOF OVERCONSTRAINED MANIPULATOR FOR REHABILITATION OF UPPER EXTREMITE. JNSE [Internet]. 2016 Jan. 1;11(2):52-69. Available from: https://izlik.org/JA89NB59BN