Kinematics Analysis of 4-RPUR Parallel Mechanism with 3D Rotation Center Overlap for Ankle Rehabilitation

Xiangyu Shen, Hongjian Yu, Zhenyi Wang

2023

Abstract

In many robot application environments, there are often requirements for the three-dimensional rotation center of the robot operating platform to coincide, such as the design of the robot wrist, the design of the robot to assist the human joint movement, etc. However, in the research and development of parallel robots with few degrees of freedom, It is difficult to design a mechanism that can rotate the robot’s moving platform around a fixed point with limited degrees of freedom. The main content of this paper is the kinematic analysis and discussion of a 4-RPUR parallel configuration that can realize three-dimensional rotation around a certain point in space and the design of a reset rehabilitation robot based on this configuration.

Paper Citation

in Harvard Style

Shen X., Yu H. and Wang Z. (2023). Kinematics Analysis of 4-RPUR Parallel Mechanism with 3D Rotation Center Overlap for Ankle Rehabilitation. In Proceedings of the 2nd International Seminar on Artificial Intelligence, Networking and Information Technology - Volume 1: ANIT; ISBN 978-989-758-677-4, SciTePress, pages 131-137. DOI: 10.5220/0012275900003807

in Bibtex Style

@conference{anit23,
author={Xiangyu Shen and Hongjian Yu and Zhenyi Wang},
title={Kinematics Analysis of 4-RPUR Parallel Mechanism with 3D Rotation Center Overlap for Ankle Rehabilitation},
booktitle={Proceedings of the 2nd International Seminar on Artificial Intelligence, Networking and Information Technology - Volume 1: ANIT},
year={2023},
pages={131-137},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012275900003807},
isbn={978-989-758-677-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 2nd International Seminar on Artificial Intelligence, Networking and Information Technology - Volume 1: ANIT
TI - Kinematics Analysis of 4-RPUR Parallel Mechanism with 3D Rotation Center Overlap for Ankle Rehabilitation
SN - 978-989-758-677-4
AU - Shen X.
AU - Yu H.
AU - Wang Z.
PY - 2023
SP - 131
EP - 137
DO - 10.5220/0012275900003807
PB - SciTePress