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Path-planning of a hybrid parallel robot using stiffness and workspace for foot rehabilitation

Rastegarpanah, A; Rakhodaei, H; Saadat, M; Rastegarpanah, M; Marturi, N; Borboni, A; Loureiro, RCV; (2018) Path-planning of a hybrid parallel robot using stiffness and workspace for foot rehabilitation. Advances in Mechanical Engineering , 10 (1) pp. 1-10. 10.1177/1687814017754159. Green open access

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Abstract

Stiffness is one of the important parameters for estimating the performance of hybrid parallel robots as it is not constant throughout its workspace. The aim of this study is to provide an optimum path based on maximum stiffness within the workspace of a 9-degree-of-freedom hybrid parallel mechanism configuration, which includes nine linear actuators connecting one stationary and two moving platforms in series. The proposed robot is designed for ankle rehabilitation, where accurate and precise movement of lower extremities is required. The design takes advantage of two important characteristics of parallel robots: stiffness and workspace. The proposed methodology to determine the stiffness of hybrid robot in three single axes is based on calculation of position vector of each actuator in any particular pose, by considering the inverse kinematics of the system, in order to obtain the magnitude and direction of the applied forces. The results obtained from the workspace calculations have been compared with those of two standard parallel mechanisms including a 6-degree-of-freedom hexapod and a tripod with 3 degrees of freedom. The stiffness of the robot has been calculated in simulation and then compared with those of a developed prototype hybrid model in two different case studies.

Type: Article
Title: Path-planning of a hybrid parallel robot using stiffness and workspace for foot rehabilitation
Open access status: An open access version is available from UCL Discovery
DOI: 10.1177/1687814017754159
Publisher version: https://doi.org/10.1177/1687814017754159
Language: English
Additional information: This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/
Keywords: Science & Technology, Physical Sciences, Technology, Thermodynamics, Engineering, Mechanical, Engineering, Stiffness, parallel robot, ankle rehabilitation, workspace, gait
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science
URI: https://discovery.ucl.ac.uk/id/eprint/10043539
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