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    Design of Planar 1-DOF Cam-Linkages for Lower-Limb Rehabilitation Via Kinematic-Mapping Motion Synthesis Framework

    Source: Journal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 004::page 41006
    Author:
    Zhao, Ping
    ,
    Zhu, Lihong
    ,
    Zi, Bin
    ,
    Li, Xiangyun
    DOI: 10.1115/1.4043459
    Publisher: American Society of Mechanical Engineers (ASME)
    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.
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      Design of Planar 1-DOF Cam-Linkages for Lower-Limb Rehabilitation Via Kinematic-Mapping Motion Synthesis Framework

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4259250
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    contributor authorZhao, Ping
    contributor authorZhu, Lihong
    contributor authorZi, Bin
    contributor authorLi, Xiangyun
    date accessioned2019-09-18T09:08:04Z
    date available2019-09-18T09:08:04Z
    date copyright5/17/2019 12:00:00 AM
    date issued2019
    identifier issn1942-4302
    identifier otherjmr_11_4_041006
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4259250
    description abstractWhen 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.
    publisherAmerican Society of Mechanical Engineers (ASME)
    titleDesign of Planar 1-DOF Cam-Linkages for Lower-Limb Rehabilitation Via Kinematic-Mapping Motion Synthesis Framework
    typeJournal Paper
    journal volume11
    journal issue4
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4043459
    journal fristpage41006
    journal lastpage041006-8
    treeJournal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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