Mathematical model of kinematics and dynamcs of powered exoskeleton tree actuator

Authors: Isabekov Zh.N.
Published in issue: #4(4)/2016
DOI: 10.18698/2541-8009-2016-4-34
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: exoskeleton, synthesis of kinematic structure, modified Denavit- Hartenberg coordinate system, reachability matrix, dynamic equation of exoskeleton’s actuator
Published: 14.02.2017

We propose a kinematic scheme of a tree actuator of the powered exoskeleton. In our research we examine mathematical models of kinematics and dynamics of its actuator and present values of modified Denavit - Hartenberg parameters, reachability matrix of the actuator's units and the Z vector, which characterizes the spatial arrangement of the rotation axes of kinematic pairs.

References

[1] Zenkevich S.L., Yushchenko A.S. Osnovy upravleniya manipulyatsionnymi robotami [Basic concepts of manipulation robot control]. Moscow, Bauman MSTU Publ., 2004. 480 p. (in Russ.).

[2] Medvedev V.S., Leskov A.G., Yushchenko A.S. Sistemy upravleniya manipulyatsionnykh robotov [Manipulation robot control systems]. Moscow, Nauka Publ., 1978. 416 p. (in Russ.).

[3] Koval’chuk A.K. Modified Denavit-Hartenberg coordinate system for robot actuating mechanisms with tree-like kinematic structure. Nauka i obrazovanie. MGTU im. N.E. Baumana [Science and Education of the Bauman MSTU], 2015, no. 11. URL: http://technomag.bmstu.ru/doc/826673.html (in Russ.). DOI: 10.7463/1115.0826673

[4] Koval’chuk A.K., Kulakov D.B., Semenov S.E. Block-matrix equations of robot actuating mechanism movements with tree-like kinematic structure. Izvestiya vysshikh uchebnykh zavedeniy. Mashinostroenie [Proceedings of Higher Educational Institutions. Маchine Building], 2008, no. 12, pp. 5-21. URL: http://izvuzmash.ru/catalog/calcmach/hidden/577.html (in Russ.).

[5] Vereykin A.A., Koval’chuk A.K., Kulakov D.B., Semenov S.E. Analysis and choice of the exoskeleton’s actuator kinematic structure. Nauka i obrazovanie. MGTU im. N.E. Baumana [Science and Education of the Bauman MSTU], 2014, no. 7. URL: http://technomag.bmstu.ru/doc/717676.html (in Russ.). DOI: 10.7463/0714.0717676

[6] Denavit J., Hartenberg R.S. Kinematic notation for lower-pair mechanisms based on matrices. J. Appl. Mech, 1955, no. 6, pp. 215-221.

[7] Alekseev V.E., Talanov V.A. Grafy i algoritmy. Struktury dannykh. Modeli vychisleniy [Graphs and algorithms. Data structures. Computational models]. Moscow, Binom Publ., 2006. 319 p. (in Russ.).

[8] Koval’chuk A.K., Kulakov B.B., Kulakov D.B., Semenov S.E., Yarots V.V. Osnovy teorii ispolnitel’nykh mekhanizmov shagayushchikh robotov [Theory concept of walking robot actuating mechanism]. Moscow, Rudomino Publ., 2010. 170 p. (in Russ.).

[9] Isabekov Zh.N. Kinematic diagram engineering of tree-like exoskeleton actuating mechanism in Bauman MSTU. Molodezhnyy nauchno-tekhnicheskiy vestnik [Electronic Periodical Youth Scientific and Technical Bulletin], 2016, no. 11. URL: http://sntbul.bmstu.ru/doc/851261.html (in Russ.).