Decoupling design and kinematic analysis of rope driven flexible wheelchair manipulators
ObjectiveAiming at the problems of large size, heavy weight and safety of human-machine interaction of traditional rigid wheelchair manipulators, a 6-degree-of-freedom rope driven flexible wheelchair manipulator was designed.MethodsThe manipulator adopted a flexible translation structure, which can...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2025-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.01.012 |
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| _version_ | 1832586336896286720 |
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| author | WANG Lu ZHAO Dongjie ZHANG Weitao WANG Yini ZHANG Kun |
| author_facet | WANG Lu ZHAO Dongjie ZHANG Weitao WANG Yini ZHANG Kun |
| author_sort | WANG Lu |
| collection | DOAJ |
| description | ObjectiveAiming at the problems of large size, heavy weight and safety of human-machine interaction of traditional rigid wheelchair manipulators, a 6-degree-of-freedom rope driven flexible wheelchair manipulator was designed.MethodsThe manipulator adopted a flexible translation structure, which can keep the end posture unchanged while changing the end position, realized the decoupling of position and posture, and effectively improved the rigidity of the flexible manipulator. The kinematic model of the flexible manipulator was established based on the constant curvature modeling method, and the kinematic analysis between the drive space, joint space, and operation space as well as the decoupling analysis between each flexible joint were carried out. A simulation model based on Adams virtual prototype was established.ResultsBy comparing with the numerical simulation results of Matlab software, the accuracy of the kinematic algorithm is verified, which provides a basis for the subsequent motion control of the manipulator. |
| format | Article |
| id | doaj-art-63bcf7b8b4764b4ab500dca04a73da3a |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2025-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-63bcf7b8b4764b4ab500dca04a73da3a2025-01-25T19:01:04ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392025-01-01499810481410629Decoupling design and kinematic analysis of rope driven flexible wheelchair manipulatorsWANG LuZHAO DongjieZHANG WeitaoWANG YiniZHANG KunObjectiveAiming at the problems of large size, heavy weight and safety of human-machine interaction of traditional rigid wheelchair manipulators, a 6-degree-of-freedom rope driven flexible wheelchair manipulator was designed.MethodsThe manipulator adopted a flexible translation structure, which can keep the end posture unchanged while changing the end position, realized the decoupling of position and posture, and effectively improved the rigidity of the flexible manipulator. The kinematic model of the flexible manipulator was established based on the constant curvature modeling method, and the kinematic analysis between the drive space, joint space, and operation space as well as the decoupling analysis between each flexible joint were carried out. A simulation model based on Adams virtual prototype was established.ResultsBy comparing with the numerical simulation results of Matlab software, the accuracy of the kinematic algorithm is verified, which provides a basis for the subsequent motion control of the manipulator.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.01.012Flexible manipulatorKinematic analysisWheelchair manipulatorAdams virtual prototype |
| spellingShingle | WANG Lu ZHAO Dongjie ZHANG Weitao WANG Yini ZHANG Kun Decoupling design and kinematic analysis of rope driven flexible wheelchair manipulators Jixie chuandong Flexible manipulator Kinematic analysis Wheelchair manipulator Adams virtual prototype |
| title | Decoupling design and kinematic analysis of rope driven flexible wheelchair manipulators |
| title_full | Decoupling design and kinematic analysis of rope driven flexible wheelchair manipulators |
| title_fullStr | Decoupling design and kinematic analysis of rope driven flexible wheelchair manipulators |
| title_full_unstemmed | Decoupling design and kinematic analysis of rope driven flexible wheelchair manipulators |
| title_short | Decoupling design and kinematic analysis of rope driven flexible wheelchair manipulators |
| title_sort | decoupling design and kinematic analysis of rope driven flexible wheelchair manipulators |
| topic | Flexible manipulator Kinematic analysis Wheelchair manipulator Adams virtual prototype |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.01.012 |
| work_keys_str_mv | AT wanglu decouplingdesignandkinematicanalysisofropedrivenflexiblewheelchairmanipulators AT zhaodongjie decouplingdesignandkinematicanalysisofropedrivenflexiblewheelchairmanipulators AT zhangweitao decouplingdesignandkinematicanalysisofropedrivenflexiblewheelchairmanipulators AT wangyini decouplingdesignandkinematicanalysisofropedrivenflexiblewheelchairmanipulators AT zhangkun decouplingdesignandkinematicanalysisofropedrivenflexiblewheelchairmanipulators |