Analysis of the Structure and Workspace of the Isoglide-Type Robot for Rehabilitation Tasks

  • Gagik Rashoyan
  • Konstantin Shalyukhin
  • Anton AntonovEmail author
  • Aleksandr Aleshin
  • Sergey Skvortsov
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1126)


This article provides a comparative analysis of the various structural schemes of Isoglide-type mechanisms. Several variants of the kinematic chains with the different number and position of the links and joints are presented. Next, the paper presents a methodology for constructing a maximum workspace for such mechanisms, which is based on the use of the chord method. The working area for one selected type of mechanisms is modeled by means of the suggested approach for different values of the links’ lengths.


Parallel manipulator Isoglide Robotic rehabilitation system Workspace Chord method 



This work was supported by Russian Science Foundation, grant no. 19-19-00692.


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Gagik Rashoyan
    • 1
  • Konstantin Shalyukhin
    • 1
  • Anton Antonov
    • 1
    Email author
  • Aleksandr Aleshin
    • 1
  • Sergey Skvortsov
    • 1
  1. 1.Blagonravov Mechanical Engineering Research Institute of the Russian Academy of SciencesMoscowRussia

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