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

Vamshi Krishna Lingampally
Mechanical Engineering Department, Jawaharlal Nehru Technological University , IN

Prof.Satish Babu Garlanka
Mechanical Engineering Department, Jawaharlal Nehru Technological University , IN

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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