DocumentCode :
2333605
Title :
Design and simulation of light weight arm based on Elderly/disabled life assist robot
Author :
Hua, Xi ; Guo, Shuai
Author_Institution :
Dept. of Mechatron., Shanghai Univ., Shanghai, China
fYear :
2012
fDate :
18-20 July 2012
Firstpage :
507
Lastpage :
511
Abstract :
This paper introduces a new prototype of cost-efficient light weight arm based on Elderly/disabled life assist robot. The arm with three joints is a four DOF manipulator. It implements a well-fitted combination of parallel and serial mechanisms and a double DOF joint with planetary gearing structure, which brings realization of a high weight ratio. The model built in CAD is uploaded into MATLAB for animation and the operation process of simulation is visualized by GUI. After having calculated the input spatial coordinates in GUI via programs with inverse kinematics principle, and running modules based on Simulink, each joint will revolute calculated angle to get the desired position in animation, demonstrating the mechanical design. The concept in this paper about light weight design can be applied to other related researches.
Keywords :
control system CAD; gears; handicapped aids; manipulator kinematics; CAD; GUI; MATLAB; Simulink; animation; cost-efficient light weight arm; double DOF joint; elderly/disabled life assist robot; four DOF manipulator; high weight ratio; inverse kinematics principle; light weight design; lightweight arm; mechanical design; parallel mechanism; planetary gearing structure; serial mechanism; spatial coordinates; Animation; Gears; Joints; Kinematics; Mathematical model; Robots; Solid modeling; Elderly/disabled life assist robot; Light weight arm; Planetary gearing mechanism; Simulation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2012 7th IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4577-2118-2
Type :
conf
DOI :
10.1109/ICIEA.2012.6360781
Filename :
6360781
Link To Document :
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