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research-article

DESIGN OF PLANAR 1-DOF CAM-LINKAGES FOR LOWER-LIMB REHABILITATION VIA KINEMATIC-MAPPING MOTION SYNTHESIS FRAMEWORK

[+] Author and Article Information
Ping Zhao

193 Tunxi Road School of Mechanical and Automotive Engineering Hefei, Anhui 230009 China ping.zhao@hfut.edu.cn

Lihong Zhu

193 Tunxi Road School of Mechanical and Automotive Engineering Hefei, Anhui 230009 China zhlhong2002@163.com

Bin Zi

193 Tunxi Road School of Mechanical Engineering China, Anhui 230009 China zibinhfut@163.com

Xiangyun Li

111 Northbound Section, Second Ring School of Mechanical Engineering Chengdu, Sichuan 610031 China xiangyun.app@gmail.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received June 8, 2018; final manuscript received March 31, 2019; published online xx xx, xxxx. Assoc. Editor: Xilun Ding.

ASME doi:10.1115/1.4043459 History: Received June 08, 2018; Accepted April 03, 2019

Abstract

When designing linkage mechanisms for motion synthesis, many examples have shown that the optimal kinematic constraint on the task motion contains too large deviation to be approximately viewed as a single rotational or translational pair. In this paper we seek to adopt our previously established motion synthesis framework for the design of cam-linkages for a more accurate realization, while still maintaining a one-DOF mechanism. To determine a feasible cam to lead through the task motion, first a kinematic constraint is identified such that a moving point on the given motion traces a curve that is algebraically closest to a circle or a line. This leads to a cam with low-harmonic contour curve that is simple and smooth to avoid the drawbacks of cam mechanisms. Additional constraints could also be imposed to specify the location and/or size of the cam-linkages. An example of the design of a lower-limb rehabilitation device has been presented in the end of this paper to illustrate the feasibility of our approach. It is shown that our design could lead the user through a normal walking motion.

Copyright © 2019 by ASME
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