kinematic analysis & modelling of a crutch robot
R.Vijayaraghavan,Ravi Jagdale,Dr.P.Vivekanada Shanmuganathan
Published in International Journal of Advanced Research in Robotics and Development
ISSN: 2348-2338 Impact Factor:1.678 Volume:1 Issue:1 Year: 08 December,2013 Pages:1-7
Abstract
Technologies have advanced to the extent that the human inability to walk can be restored and made to walk like normal people. On the Other hand cost incurred on such devices should be made bearable considering the value of the product. Our aim is increase a 4 legged crutch robot user friendly for the disabled .It has one pair of Passive and active legs. The support pair has no knee joints but helps in movement as a hold up. The Robot is passive when it moves on the crutch pair and swings its legs generally. The model is built mathematically, simulated and valuation of the leg posture is facilitated. Kinematic analysis is performed to calculate its walking pattern and its behavior at links. Velocity, Acceleration of each joint and link is calculated and the position of the coordinates with respect to the origin. The work aims to offer autonomous control of the leg joints using servo motor control. This task proposes to use ADAMS and Simulink as the analysis tools to facilitate tracking of a moving object and Physical model is made to trace the same
Kewords
Crutch , Kinematic Analysis ,Behaviour at Links ,Servo Motor Control
Reference
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