14 Citations (Scopus)

Abstract

This paper deals with the development and dimension synthesis of the 3-RPS parallel manipulator for ankle rehabilitation device. The architecture of the 3-RPS parallel manipulator was achieved through novel methodology introduced in [1]. Three revolute axes intersect at one point. This point being the center of rotation of the ankle rehabilitation device and it will be placed as close as possible to the ankle joint. By using the Euler parametrization, the dimension of the base and the platform will be synthesized by considering its orientation capability. The singularities will be the constraint of the synthesis process. Using the synthesis method introduced in this paper, the novel 3-RPS parallel manipulator is provided.

Original languageEnglish
Title of host publication2017 18th International Conference on Advanced Robotics, ICAR 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages269-274
Number of pages6
ISBN (Electronic)9781538631577
DOIs
Publication statusPublished - 30 Aug 2017
Event18th International Conference on Advanced Robotics, ICAR 2017 - Hong Kong, China
Duration: 10 Jul 201712 Jul 2017

Publication series

Name2017 18th International Conference on Advanced Robotics, ICAR 2017

Conference

Conference18th International Conference on Advanced Robotics, ICAR 2017
Country/TerritoryChina
CityHong Kong
Period10/07/1712/07/17

Keywords

  • 3-RPS
  • Ankle joint
  • Dimension synthesis
  • Parallel manipulators
  • Singularities

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