Design of passive 3-PRR planar parallel manipulators for self-alignment of exoskeleton axes

Shramana Ghosh; Dongming Gan

doi:10.1115/DETC2016-59821

Design of passive 3-PRR planar parallel manipulators for self-alignment of exoskeleton axes

Shramana Ghosh, Dongming Gan

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Self-alignment mechanisms for exoskeletons alleviate critical issues arising from misalignment between exoskeleton and human joints. In this paper we present a method for kinematic synthesis of a passive mechanism for aligning joint axes of exoskeletons with human anatomical joint axes. Planar parallel manipulators are known for their inherent stiffness and compactness; we propose a novel parallel manipulator design to achieve self-alignment. The base platform of the parallel manipulator is attached to the human arm and the moving platform is attached to the exoskeleton. Three PRR chains connect the base and moving platforms. An optimal design problem is formulated to find the smallest manipulator that spans the specified workspace, which represents the possible area of misalignment.

Original language	English
Title of host publication	40th Mechanisms and Robotics Conference
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791850169
DOIs	https://doi.org/10.1115/DETC2016-59821
State	Published - 2016
Externally published	Yes
Event	ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States Duration: Aug 21 2016 → Aug 24 2016

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	5B-2016

Conference

Conference	ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
Country/Territory	United States
City	Charlotte
Period	08/21/16 → 08/24/16

Access to Document

10.1115/DETC2016-59821

Cite this

@inproceedings{fef2a2f0ba2844a08cd9fa5b2227527a,

title = "Design of passive 3-PRR planar parallel manipulators for self-alignment of exoskeleton axes",

abstract = "Self-alignment mechanisms for exoskeletons alleviate critical issues arising from misalignment between exoskeleton and human joints. In this paper we present a method for kinematic synthesis of a passive mechanism for aligning joint axes of exoskeletons with human anatomical joint axes. Planar parallel manipulators are known for their inherent stiffness and compactness; we propose a novel parallel manipulator design to achieve self-alignment. The base platform of the parallel manipulator is attached to the human arm and the moving platform is attached to the exoskeleton. Three PRR chains connect the base and moving platforms. An optimal design problem is formulated to find the smallest manipulator that spans the specified workspace, which represents the possible area of misalignment.",

author = "Shramana Ghosh and Dongming Gan",

note = "Publisher Copyright: {\textcopyright} Copyright 2016 by ASME.; ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 ; Conference date: 21-08-2016 Through 24-08-2016",

year = "2016",

doi = "10.1115/DETC2016-59821",

language = "English",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers (ASME)",

booktitle = "40th Mechanisms and Robotics Conference",

}

Ghosh, S & Gan, D 2016, Design of passive 3-PRR planar parallel manipulators for self-alignment of exoskeleton axes. in 40th Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 5B-2016, American Society of Mechanical Engineers (ASME), ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016, Charlotte, United States, 08/21/16. https://doi.org/10.1115/DETC2016-59821

Design of passive 3-PRR planar parallel manipulators for self-alignment of exoskeleton axes. / Ghosh, Shramana; Gan, Dongming.
40th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), 2016. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5B-2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design of passive 3-PRR planar parallel manipulators for self-alignment of exoskeleton axes

AU - Ghosh, Shramana

AU - Gan, Dongming

PY - 2016

Y1 - 2016

N2 - Self-alignment mechanisms for exoskeletons alleviate critical issues arising from misalignment between exoskeleton and human joints. In this paper we present a method for kinematic synthesis of a passive mechanism for aligning joint axes of exoskeletons with human anatomical joint axes. Planar parallel manipulators are known for their inherent stiffness and compactness; we propose a novel parallel manipulator design to achieve self-alignment. The base platform of the parallel manipulator is attached to the human arm and the moving platform is attached to the exoskeleton. Three PRR chains connect the base and moving platforms. An optimal design problem is formulated to find the smallest manipulator that spans the specified workspace, which represents the possible area of misalignment.

AB - Self-alignment mechanisms for exoskeletons alleviate critical issues arising from misalignment between exoskeleton and human joints. In this paper we present a method for kinematic synthesis of a passive mechanism for aligning joint axes of exoskeletons with human anatomical joint axes. Planar parallel manipulators are known for their inherent stiffness and compactness; we propose a novel parallel manipulator design to achieve self-alignment. The base platform of the parallel manipulator is attached to the human arm and the moving platform is attached to the exoskeleton. Three PRR chains connect the base and moving platforms. An optimal design problem is formulated to find the smallest manipulator that spans the specified workspace, which represents the possible area of misalignment.

UR - http://www.scopus.com/inward/record.url?scp=85007556329&partnerID=8YFLogxK

U2 - 10.1115/DETC2016-59821

DO - 10.1115/DETC2016-59821

M3 - Conference contribution

AN - SCOPUS:85007556329

T3 - Proceedings of the ASME Design Engineering Technical Conference

BT - 40th Mechanisms and Robotics Conference

PB - American Society of Mechanical Engineers (ASME)

T2 - ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016

Y2 - 21 August 2016 through 24 August 2016

ER -

Design of passive 3-PRR planar parallel manipulators for self-alignment of exoskeleton axes

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this