Análisis de compatibilidad del modelo dinámico de un robot paralelo tipo 3UPS+1RPU para rehabilitación de rodilla, mediante simulación de mecanismos en MSC-ADAMS

Abstract

The present work seeks to establish the degree of compatibility of the dynamic model of the parallel robot for knee rehabilitation type 3UPS+1RPU, developed by Aquino & Pozo, with the real behavior of robot. This dynamic model was developed using the Gibbs Appell methodology; however, it lacks of a compatibility analysis methodology to support the results obtained. The present project calculates the forces that must be exerted by the linear actuators of the robot 3UPS+1RPU to perform movements of hip flexion, knee flexion-extension, internal-external knee rotation and ankle flexion-extension used in knee rehabilitation. These forces are compared with the forces in the actuators determined by the dynamic simulation of the computer-designed mechanism for the 3UPS+1RPU parallel robot. In order to analyze the behavior of the results calculated and simulated, a statistical tool called residue analysis is used. Finally, the mean square error quantifies the degree of compatibility between the model and the simulated mechanism.