Modelo dinámico de un robot paralelo para rehabilitación de rodilla

Abstract

The parallel robot is a machine made up of mechanical and electronic components governed by a computer program. The parallel robot is formed by a mechanical mechanism composed of a fixed platform and a mobile platform joined by a links. The movement characteristics of this type of robot are suitable for applications in medical rehabilitation. The robot 3UPS + RPU allows generating 4 degrees of freedom, two translations and two rotations, degrees of freedom combination allow to generate the main movements for knee rehabilitation. For the study of this robot establishes the use of the generated coordinates since they ensure the proper calculation of the kinematics, starting with the determination of the generalized positions, that positions are derived respect to the generalized coordinates and it is possible to obtain generalized speeds and they are derived and it is possible to obtain generalized accelerations. The kinematic study allows the generation of dynamic models through the Gibbs Appell method, virtual work method and virtual power method. The dynamic models allow to study of the behavior of the robot for knee rehabilitation, generalized loads are calculated for each linear actuator of the robot.