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SENIOR RESEARCH FELLOW, IIT PALAKKAD
SENIOR RESEARCH FELLOW, IIT PALAKKAD
Worked in project titled “Design and Development of a new Sitting - Type Lower Limb Rehabilitation Robot.
The active 3-PRRR subsystem of the proposed sitting type lower limb rehabilitation robot.
About the project
About the project
A new design for a stationary trainer for performing rehabilitation therapies for the lower limb at the knee, as well as hip joints in the sitting/lying positions, is proposed in this project. The system comprises a passive orthosis to provide support to the lower limb of the patient. The system also consists of an active 3-PRRR CPM, to perform the required limb therapeutic motions in the transverse/horizontal/lateral and sagittal/longitudinal plane. For further information, refer paper.
Various assembly configurations of the 3-PRRR Cartesian Parallel manipulator.
Highlights
Highlights
Four variants of the 3-PRRR Cartesian parallel manipulators (CPM) were analysed based on the limb interference-free workspace volumes, and the optimal configurations were identified.
The effect of the shape of the moving platform, on the interference-free workspace volume, was analysed.
Development of a robust motion controller with guaranteed finite-time convergence.
Interference-free workspace and an inscribed square prism of maximal volume.
Algorithms to determine a square prism of maximal volume that inscribes the interference-free workspace of a 3-PRRR CPM.
Graphical user interfaces (GUI) to assist designers to perform dimensional synthesis based on the required interference-free workspace volume.
Publications
Publications
Algorithms to identify link-interference and interference-free regions of the 3-PRRR CPM.
Algorithms to identify a square prism of maximal volume that fully inscribes the interference-free workspace of the 3-PRRR CPM.
Analysis of the effect of link dimensions on the size of the maximal inscribed square prism.
Analysis of the effect of end-effector dimensions on the size of the maximal inscribed square prism.
Workspace analyses (interference-free) and identification of the optimal configuration of the 3-PRRR CPM.
Validation of interference detection algorithm using virtual prototypes.
Euler-Lagrange based dynamic modelling and validation using ADAMS multibody package.
Design of an integral slide mode motion controller coupled with its stability and robustness analyses.
A graphical user interface (GUI) for aiding the selection of link dimensions, based on the desired workspace volume of the maximally inscribed square prism. GUI also hosts the kinematic and dynamic simulation of the 3-PRRR CPM.
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