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Appraisement and Analysis of Dynamical Stability of Under-Constrained Cable-Driven Lower-Limb Rehabilitation Training Robot

Published online by Cambridge University Press:  10 September 2020

Yan-Lin Wang Open the ORCID record for Yan-Lin Wang [Opens in a new window] ,
Ke-Yi Wang ,
Wan-Li Wang ,
Zhuang Han  and
Zi-Xing Zhang
Yan-Lin Wang*
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Ke-Yi Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Wan-Li Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Zhuang Han
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Zi-Xing Zhang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
*
*Corresponding author. E-mail: wangyanlin0513@21cn.com
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Summary

The dynamical stability of the cable-driven lower-limb rehabilitation training robot (CLLRTR) is a crucial question. Based on the established dynamics model of CLLRTR, the solution to the wrench closure of the under-constrained system is presented. Secondly, the stability index of CLLRTR is proposed by the Krasovski method. Finally, in order to analyze the stability distribution of CLLRTR in the workspace, the stability evaluation index in the workspace is calculated using the eigenvalue decomposition method. The stability distribution laws of CLLRTR are further verified by the experimental study. The results provide references for studying trajectory planning and anti-pendulum control of CLLRTR.

Keywords

RehabilitationCable-driven robotKrasovski methodWrench enclosureDynamical stability
Type
Article
Information
Robotica , Volume 39 , Issue 6 , June 2021 , pp. 1023 - 1036
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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