Journal
MICROMACHINES
Volume 13, Issue 2, Pages -Publisher
MDPI
DOI: 10.3390/mi13020253
Keywords
upper limb rehabilitation robot; cable-driven robot; static stiffness derivation; multi-body simulation analysis
Categories
Funding
- National Natural Science Foundation [51705534]
- Fundamental Research Funds for the Central Universities [18CX02085A]
- Key Scientific and Technological Innovation Project of Shandong Provincial [2017CXGC0902]
- Shandong Provincial Natural Science Foundation [ZR2016EEB12]
- Hubei Superior and Distinctive Discipline Group of Mechatronics and Automobiles [XKQ2021041]
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This paper studies the stiffness characteristics of the parallel cable-driven upper limb rehabilitation robot (PCUR) and summarizes the motion laws of the moving platform under different stiffness and external forces through the establishment of a simulation model and analysis of data.
This paper studies the stiffness of the parallel cable-driven upper limb rehabilitation robot (PCUR). Firstly, it was derived that the static stiffness expression of the PCUR was composed of platform pose stiffness K-T and cable pose stiffness K-S. It indicated that the static stiffness of the PCUR was related to the cable tension, the arrangement of the cable, and the cable stiffness. Secondly, a simulation model in MATLAB/Simscape Multibody was built. Cable tension was applied to make the moving platform in a static equilibrium state. The stiffness of the PCUR and the external force on the moving platform were changed, and the motion characteristics of the moving platform were obtained. Finally, the position changes of the moving platform under different external forces were analyzed, and the motion laws of the moving platform under different stiffnesses were summarized.
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