Title :
R&D of living assistant serial and parallel robot-analysis of motion and function
Author :
Yumei, Huang ; Feng, Gao ; Zemin, Fan ; Shujie, Xu ; Bamba, Eiichi ; Kume, Yasufumi ; Yamamoto, Masahiko
Author_Institution :
Xi´´an Univ. of Technol., China
Abstract :
This paper proposes a new model of 4-DOF mixed serial and parallel robot for living assistance, which combines stable structure and high rigidity of the parallel mechanism and wide workspace of the serial mechanism organically. The rotary DOF with 3 rotary axes intersecting one point enables the end effector to change its location, by as much as 360°. One linear DOF can adjust the height of the end effector. The model can be applied for nursing and recuperation, if other devices be connected to it, or can be made into a medical operating platform
Keywords :
medical robotics; patient care; stability; R&D; end effector height adjustment; living assistant robot; medical operating platform; nursing; parallel robot; recuperation; serial robot; stable structure; Aging; End effectors; Equations; Fasteners; Motion analysis; Orbital robotics; Parallel robots; Pediatrics; Research and development; Robot kinematics;
Conference_Titel :
Robot and Human Interactive Communication, 2000. RO-MAN 2000. Proceedings. 9th IEEE International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-6273-X
DOI :
10.1109/ROMAN.2000.892642
