A New Methodology for Type Synthesis of Planar Linkages for Exoskeletons up to Five Angular Outputs
Source abstract
Abstract
Mechanical linkage systems are a very important issue for exoskeleton design to meet the required number of angular outputs. In this paper, a new methodology is developed for type synthesis of planar linkages to establish a complete set of one degree of freedom (DOF) planar linkages with up to five angular outputs. Modified graphical representation is introduced for a four-bar mechanism as the initial angular output linkage. Then, a computerized procedure is presented to generate multiple angular outputs graphically by adding RRR dyads with parallel and series connections using Visual C++. A complete database of planar linkages with up to five angular outputs is successfully constructed. That helps designers to select the proper linkage for a given number of angular outputs. Some case studies have been discussed to validate the importance and efficiency of the proposed methodology that can be extended to generate linkage systems with any number of angular outputs for general robotic applications.
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Research context
OpenAlex topics: Prosthetics and Rehabilitation Robotics · Robotic Mechanisms and Dynamics · Robot Manipulation and Learning
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechanical Engineering, Faculty of Engineering, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia
Production and Mechanical Design Department, Faculty of Engineering, Mansoura University, Mansoura 35516, Egypt
Department of Civil and Environmental Engineering, Incheon National University, Incheon 22012, Korea
Incheon Disaster Prevention Research Center, Incheon National University, Incheon 22012, Korea
Mechanical Engineering Department, Faculty of Engineering & Technology, Future University in Egypt, Cairo 11385, Egypt
Funding
Basic Science Research Program through the National Research Foundation of Korea (NRF) grant funded by the Korea Government (MSIT) (No. NRF-2021R1A2B5B02002599).
References (38)
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