Open AccessStudy on gravity calculation method of integration about an upper extremity exoskeleton and loads
Author(s) -
Lin Feng,
Qiuzhi Song,
Zhuo Qi,
Xin Wang
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/612/2/022064
Subject(s) - exoskeleton , center of gravity , kinematics , trajectory , interpolation (computer graphics) , balance (ability) , control theory (sociology) , computer science , engineering , simulation , physics , physical medicine and rehabilitation , motion (physics) , classical mechanics , control (management) , medicine , artificial intelligence , management , astronomy , economics
The gravity center of integration about the upper extremity exoskeleton and loads has a great impact on the balance control of the systemic exoskeleton system. In this paper, a new method is presented to calculate the gravity of the integration. First, build a model of the upper extremity exoskeleton by standard D-H method, analyze the model by kinematics and then obtain the function of the gravity center by analyzing the relationship between the structure parameters, joint angles and gravity center of the integration. Second, simulate each curve of the gravity center with lifting the load of 0, 10KG and 20KG under a specific trajectory determined by cycloid interpolation method. This paper lays a foundation to study on the balance control of the systemic exoskeleton system.