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Accurate kinematic and stiffness analysis of parallel cable-driven upper limb rehabilitation robot with spherical guide wheel cable-guiding mechanism

Published online by Cambridge University Press:  10 January 2025

Yupeng Zou Open the ORCID record for Yupeng Zou [Opens in a new window] ,
Keyu Pan Open the ORCID record for Keyu Pan [Opens in a new window] ,
Mengfei Wang Open the ORCID record for Mengfei Wang [Opens in a new window] ,
Xiaojing Lai ,
Tianyu Lan Open the ORCID record for Tianyu Lan [Opens in a new window] ,
Zhishen Zhou  and
Changsheng Li
Yupeng Zou*
Affiliation:
College of Mechanical and Electrical Engineering, China University of Petroleum (East China), Qingdao, China
Keyu Pan
Affiliation:
College of Mechanical and Electrical Engineering, China University of Petroleum (East China), Qingdao, China
Mengfei Wang
Affiliation:
College of Mechanical and Electrical Engineering, China University of Petroleum (East China), Qingdao, China
Xiaojing Lai
Affiliation:
College of Mechanical and Electrical Engineering, China University of Petroleum (East China), Qingdao, China
Tianyu Lan
Affiliation:
College of Mechanical and Electrical Engineering, China University of Petroleum (East China), Qingdao, China
Zhishen Zhou
Affiliation:
College of Mechanical and Electrical Engineering, China University of Petroleum (East China), Qingdao, China
Changsheng Li
Affiliation:
College of Mechanical and Electrical Engineering, China University of Petroleum (East China), Qingdao, China
*
Corresponding author: Yupeng Zou; Email: [email protected]
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Abstract

Cable-guiding mechanisms (CGMs) and the stiffness characteristics directly influence the dynamic features of the cable-driven upper limb rehabilitation robot (PCUR), which will affect PCUR’s performance. This paper introduces a novel CGM design. Given the precision and movement stability considerations of the mechanism, an analytical model is developed. Using this model, we analyze the error of the CGM and derive velocity and acceleration mappings from the moving platform to the cables. Continuity of cable trajectory and tension is rigorously demonstrated. Subsequently, a mathematical model for PCUR stiffness is formulated. Utilizing MATLAB/Simscape Multibody, simulation models for the CGM and stiffness characteristics are constructed. The feasibility of the proposed CGM design is validated through simulation and experimentation, while the influence of stiffness characteristics on PCUR motion stability is comprehensively analyzed.

Keywords

parallel cable-driven upper limb rehabilitation robotcable-guiding mechanismkinematicsstiffness analysis
Type
Research Article
Information
Robotica , First View , pp. 1 - 23
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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