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buglesConceptual design and dimensional synthesis of a novel parallel mechanism for lower-limb长春英语培训
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期刊名称： Robotica
表演的英文作者： Wang, Hui,Li, Wen,Liu, Haitao,Zhang, Jianxin,Liu, Songtao
作者机构： Tianjin Sinogerman Univ Appl Sci,Tianjin Univ,Chenxing Tianjin Automat Equipment Co Ltdtemperature play
年份： 2019年
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期号： 第3期
关键词： Conceptual design;Kinematic optimization;Parallel mechanism;Lower-limb rehabilitation
摘要：This paper introduces a novel 2R1T parallel manipulator redundantly actuated by pneumatic muscles for lower-limb rehabilitation. First, the conceptual design of the propod 3-DOF parallel mechanism is prented. Then, the inver kinematics and the generalized Jacobian analysis are carri
fundamental>给某人打电话英文
ed out. Bad on the generalized Jacobian and the constraint characteristics of the mechanism, the
force/motion transmissibility of the redundantly actuated parallel mechanism is investigated via four individual cas without actuation redundancy, leading to a suitable local transmission index for the evaluation of kinematic performance of the propod mechanism. Finally, the design variables are optimized by maximizing the mean value of the local transmission index with the aid of genetic algorithm. The numerical result shows that the
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