Denavit Hartenberg Analysis of a Rehabilitation Equipment
Journal Title: RECENT - Year 2011, Vol 12, Issue 33
Abstract
Denavit - Hartenberg method is the most used instrument of robots modeling. It determines the position and the orientation of the end-effector of a robot. In this paper the method is used for kinematic modeling of a rehabilitation equipment, designed for the recovery of the patients with hip and knee affections. It will be determined the displacement of the slide realized during the continuous passive motion of the leg. Studied knee and hip rehabilitation equipment can be modeled as an open loop articulated kinematic chain, with elements connected in series by rotation and translation joints driven by actuators. The kinematic chain of the equipment is composed by two elements connected by three rotation and one translation joints, actuated by a linear actuator. The linear actuator used for the action of the equipment is a FESTO pneumatic muscle. One end of the chain is connected to a support base and the other is free and performs a translational motion that represents the slider displacement of the equipment. The slider displacement is of 300 mm between the positions that correspond to the relaxed and contracted state of the pneumatic muscle.
Authors and Affiliations
Ioana PETRE
Keywords
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