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