Análisis Cinemático de un Robot Paralelo de Tipología 3UPE RPU

Published in: Innovation in Education and Inclusion : Proceedings of the 16th LACCEI International Multi-Conference for Engineering, Education and Technology
Date of Conference: July 18-20, 2018
Location of Conference: Lima, Perú
Authors: Rolando Morales (Escuela Politécnica Nacional, EC)
Daysi Baño (Escuela Politécnica Nacional, EC)
Iván Zambrano (Escuela Politécnica Nacional, EC)
Andrés Rosales (Escuela Politécnica Nacional, EC)
Full Paper: #451


This ARTICLE aims to design and build a robot that is able to assist with the rehabilitation treatments of the lower limb. The robot has a mobility of 4 degrees of freedom, two movements of translation and two of rotation, these degrees of freedom are considered based on the flexo-extension movements and internal and external rotation of the lower limb. In the kinematic analysis, the developed equations are characterized by studying the kinematic chain of each element of the robot (arms and platform) separately, through the Denavit & Hartenberg methods and the Euler rotation angles respectively, describing the positions which adopt the joints of each arm separately, and then establish the relationships between each of them. The expressions describing the velocity and acceleration of each element of the robot are derived from the position equations founded. For the validation of results a program is presented which is able to simulate the movements of the robot and show the relation between the positions of the articulations of the arms of the robot and the position of the platform in the space; the results founded through this program show that there is a negligible difference between the positions of the vertices of the platform and the ends of the arms of the robot, when making any movement.