Dynamics Analysis on Pelvis Position Mechanism of Walking Aided Training Robot

Dong Yuhong

doi:10.13433/j.cnki.1003-8728.2015.0306

Volume 34 Issue 3

Mar. 2015

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2015 > 34(3): 352-355

Dong Yuhong. Dynamics Analysis on Pelvis Position Mechanism of Walking Aided Training Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(3): 352-355. doi: 10.13433/j.cnki.1003-8728.2015.0306

Citation:

Dong Yuhong. Dynamics Analysis on Pelvis Position Mechanism of Walking Aided Training Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(3): 352-355. doi: 10.13433/j.cnki.1003-8728.2015.0306

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Dynamics Analysis on Pelvis Position Mechanism of Walking Aided Training Robot

doi: 10.13433/j.cnki.1003-8728.2015.0306

Dong Yuhong

1.
School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080

Received Date: 2013-05-13
Publish Date: 2015-03-05

Abstract

Abstract

In order to aid the walking training of hemiplegia patients, a kind of four degrees of freedom pelvis position control mechanism of walking aided training robot is put forward. Based on the principle and components of the mechanism, the dynamics equations of pelvis plane mechanism are established with Kane's method. The kinematics simulation calculations are carried out according to the motion law of pelvis position. The displacement, velocity and acceleration curves of the mechanism motion linkages are presented. By solving dynamics equations the drive forces curves are obtained. The results show that the mechanism can implement position control of human pelvis. By actuating the moving mechanisms of x and z directions and expansions of two linkages of pelvis plane mechanism, the pelvis motions with four degrees of freedom in human walking training can be realized.
- acceleration,
- angular velocity,
- calculations,
- computer simulation

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References(10)

References

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