contributor author | Zhao, Ping | |
contributor author | Zhu, Lihong | |
contributor author | Zi, Bin | |
contributor author | Li, Xiangyun | |
date accessioned | 2019-09-18T09:08:04Z | |
date available | 2019-09-18T09:08:04Z | |
date copyright | 5/17/2019 12:00:00 AM | |
date issued | 2019 | |
identifier issn | 1942-4302 | |
identifier other | jmr_11_4_041006 | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4259250 | |
description abstract | When designing linkage mechanisms for motion synthesis, many examples have shown that the optimal kinematic constraint on the task motion contains too large deviation to be approximately viewed as a single rotational or translational pair. In this paper, we seek to adopt our previously established motion synthesis framework for the design of cam-linkages for a more accurate realization, while still maintaining a 1-degree-of-freedom (DOF) mechanism. To determine a feasible cam to lead through the task motion, first a kinematic constraint is identified such that a moving point on the given motion traces a curve that is algebraically closest to a circle or a line. This leads to a cam with low-harmonic contour curve that is simple and smooth to avoid the drawbacks of cam mechanisms. Additional constraints could also be imposed to specify the location and/or size of the cam linkages. An example of the design of a lower-limb rehabilitation device has been presented at the end of this paper to illustrate the feasibility of our approach. It is shown that our design could lead the user through a normal walking motion. | |
publisher | American Society of Mechanical Engineers (ASME) | |
title | Design of Planar 1-DOF Cam-Linkages for Lower-Limb Rehabilitation Via Kinematic-Mapping Motion Synthesis Framework | |
type | Journal Paper | |
journal volume | 11 | |
journal issue | 4 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4043459 | |
journal fristpage | 41006 | |
journal lastpage | 041006-8 | |
tree | Journal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 004 | |
contenttype | Fulltext | |