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ÜST EXTREMİTENİN REHABİLİTASYONU İÇİN KULLANILACAK 5 SERBESTLİK DERECELİ KISITLI MANİPULATÖRÜN KİNEMATİK ANALİZİ

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

Journal Name:

  • Journal of Naval Sciences And Engineering

Publication Year:

  • 2015

Key Words:

Keywords (Original Language):

Author NameUniversity of Author
Abstract (2. Language): 
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.
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Abstract (Original Language): 
Bu tezde paralel bir manipülatörün rehabilitasyon amacı ile tasarımı ve analizi gerçekleştirilmiştir. Önerilen sistem beş serbestlikte ve yere 3 bacaktan bağlanmaktadır. Her bir bacak RRR(RR) yapılandırmasına sahiptir. Bütün bacaklardaki ilk üç mafsal birbirine paralel iken son iki mafsallar eksenleri çakışacak şekilde yerleştirilmiştir. Sistemin ters kinematic analizi işlemleri 3 hayali mafsalın yardımıyla sistemin iki parçaya ayrılmasıyla gerçekleştirilmiştir.
FULL TEXT (PDF): 
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  • Turkish

REFERENCES

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Kinematic Analysis of A 5 Dof Overconstrained Manipulator For
Rehabilitation Of Upper Extremite
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