DESIGN AND KINEMATIC ANALYSIS OF A NOVEL SPHERICAL PARALLEL MANIPULATOR FOR LOWER LIMB EXOSKELETON APPLICATION

Authors

  • Vamshi Krishna Lingampally Mechanical Engineering Department, Jawaharlal Nehru Technological University
  • Prof.Satish Babu Garlanka Mechanical Engineering Department, Jawaharlal Nehru Technological University

Keywords:

spherical parallel manipulator (SPM ), Riflex, kinematic analysis, performance Indices.

Abstract

This project deals with the study of feasibility and later on design compact of a three DOF robotic joints to replace the single DOF of the hip actuator of the commercially available exoskeletons. In this project a novel spherical parallel manipulator (SPM),named Riflex with three degree-of-freedom (DOF) hip exoskeleton system that is capable of providing decoupled or combined 3-DOF rotational motion to a separate and passive target joint (i.e. the hip joint) is proposed. The kinematic analysis , performance Indices of the parallel manipulator are studied.

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Published

2021-11-21

How to Cite

Lingampally, V. K., & Babu Garlanka, P. (2021). DESIGN AND KINEMATIC ANALYSIS OF A NOVEL SPHERICAL PARALLEL MANIPULATOR FOR LOWER LIMB EXOSKELETON APPLICATION. International Journal of Technical Innovation in Modern Engineering & Science, 5(1), 103–109. Retrieved from https://ijtimes.com/index.php/ijtimes/article/view/2188

Issue

Vol. 5 No. 1 (2019): Vol. 5 No. 1: Volume 5 Issue 1 (January-2019)

Section

Articles