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Journal of Nanchang University(Engineering ＆ Technology). 2015, (03)

Mechanism design and kinematic analysis of a new type of walker robot for paraplegia patientsChinese Full Text

ZHOU Shaoling;CHEN Bin;KOU Kangle;MAO Zhiwei;Jiangxi Industry Polytechnic College;School of Mechanical and Electrical Engineering,Nanchang University;

Abstract: In order to achieve paraplegics to walk independently,a four- DOF robot mechanism was proposed.The robot was only driven hip and ankle movement. After a comprehensive scale institutions which according to ergonomic principles,using the D- H coordinate method to establish kinematics model and calculate the position,velocity and acceleration equation of the walker robot’ s end-effector. While given the angle parameters,using Matlab simulation software to verify the results. The results showed that... More
Keywords：

walker robot for paraplegia; kinematics; D-H coordinate method; mechanism design;

  • DOI：

    10.13764/j.cnki.ncdg.2015.03.017

  • Series：

    (C) Architecture/ Energy/ Traffic/ Electromechanics, etc; (I) Electronic Technology ＆ Information Science

  • Subject：

    Automation Technology

  • Classification Code：

    TP242

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