With the recent progress in personal care robots, interest wearable exoskeletons has been increasing due to demand for assistive technologies generally and specifically meet concerns ageing society. Despite this global trend, research focus on load augmentation soldiers/workers, assisting trauma patients, paraplegics, spinal cord injured persons rehabilitation purposes. Barring military-focused activities, most of work date focused medical applications. However, there is a need shift...

The main focus of this work is to extend the applicability D-H parameter method develop a kinematic model hybrid manipulator. A manipulator combination open- and closed-loop chains contains planar spatial links. It has been found in literature that leads ambiguities, when dealing with chains. In work, it observed method, applied manipulator, results an orientational inconsistency, because which cannot be used model. article, concept dummy frames proposed resolve inconsistency Moreover,...

Abstract The cart-pendulum system is a typical benchmark problem in the control field. It fully underactuated having one input for two degrees-of-freedom (DOFs) system. has highly nonlinear structure, which can be used to validate different and linear controllers wide range of real-time (realistic) applications like rockets propeller, tank missile launcher, self-balancing robot, stabilization ships, design earthquake resistant buildings, etc. In this work, modeling, simulation performed....

Abstract From the last five decades, inverted pendulum (IP) has been considered as a benchmark problem in control literature due to its inherit nature of instability, non-linearity and underactuation. Its applicability wide range practical systems, demands need robust controller. It is found that controllers had tested on this problem, out which most being sliding mode controller while optimal linear quadratic regulator (LQR) The former discontinuity chattering, latter lacks property...

Over the last few decades, medical-assisted robots have been considered by many researchers, within research domain of robotics. In this article, a 5-degrees-of-freedom spatial medical manipulator is analyzed for path planning, based on inverse kinematic solutions. Analytical methods generally employed finding solutions in earlier studies. However, method only appreciable case closed-form The unusual joint configurations result more complexity to attain solutions, analytically. To overcome...

Robot kinematics plays a crucial role in recent advancements within industrial sectors and numerous medical applications. Finding forward kinematics, using DH convention is an easy task. As compared to finding the inverse solution far more challenging problem, especially when degrees-of-freedom (DOFs) are more. That why; there no general kinematic problem of given serial manipulator. This led development alternate technique like fuzzy inference system (FIS) neural network approach (NNA)....

Modular manipulators gained popularity for their implicit feature of “reconfigurability”—that is, the ability to serve multiple applications by adopting different configurations. As reported in literature, most robotic arms with modular architecture used specific values twist angles, e.g., 0 deg or 90 deg. Further, number degrees-of-freedom (DoF) is also kept fixed. These constraints on design parameters lead a smaller solution space configuration synthesis problems and may result as...

Rotary Inverted Pendulum is an under actuated, highly nonlinear and unstable system which widely used for testing various control techniques. The objective of this paper modeling simulation the rotary pendulum QUBE-Servo Quanser <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">©</sup> using second-generation SimMechanics™ toolbox in MATLAB. Results obtained with physical SimMechanics are validated analytical setup. Physical discussed detail....

In recent times, use of wearable devices is becoming popular for providing precise ways rehabilitation. The focus this paper to propose a passive lower body mechanism using four-bar linkage, which can be actuated via the hip joint move other two joints at knee and ankle as well. Simulations are performed here by considering an average male human (height six feet) modelling gait cycle in CAD software executing control strategy SimMechanics, provides convenient way study without detailed...

Since last three decades, research in the field of robot kinematics is boosted-up among different researchers worldwide. This mainly due to their increased use various challenging fields engineering and science. One such application master–slave concept a robot-assisted surgery. The authors have already performed kinematic study gravity balancing seven degrees-of-freedom (DOFs) surgeon-side manipulator (Singh et al., 2015a, Singh 2015b). To meet these demands, most important aspect robotic...

Conventional kinematic studies of serial manipulators involve the proper selection coordinate frames reference at appropriate positions. The standard practice, being used in past, is use Denavit-Hartenberg (D-H) algorithm for assigning frames. However, it has been observed that when an open chain contains a spatial link with two consecutive joint axes right angle to each other, forward kinematics derived D-H comes geometrically inconsistent. A typical involves more than one non-zero...

People with knee disorders often find it difficult to perform common mobility tasks, such as stand–sit–stand motions. High torque is required complete transitions, the chances of toppling increase during these Most existing conventional approaches, wheelchairs and crutches, have failed provide independence users. Conversely, contemporary systems like lower body exoskeletons which are bulky, complex, expensive do not specifically target joint instead assisting other joints. Hence, there a...

The prime objective of this work is to deal with the kinematics spatial hybrid manipulators. In direction, in 1955, Denavit and Hartenberg proposed a consistent concise method, known as D-H parameters open serial chains. From literature review, it found that parameter method widely used model manipulators consisting lower pairs. However, leads ambiguities when applied closed-loop, tree-like Furthermore, dearth any direct manipulators, revisions have been from time-to-time by different...

This paper presents an extension of the existing phase kinetics model shape memory alloy (SMA) wire on a SMA spring actuator. The phenomenological modeling under two different bias conditions – with (A) normal (B) along computing algorithm is addressed. results Case A are found in close agreement published literature. Whereas, B reported for first time and outperform terms equal deflection, more controllability, degrees freedom as compared A.

Abstract From the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability underactuation, these are widely used verify implement emerging techniques. Moreover, pendulum systems resemble many real-world such as segways, humanoid robots etc. In literature, wide range controllers had been tested on this problem, out which, most robust being sliding mode controller while optimal linear quadratic...

Electrical discharge machining is a thermal erosion process which based on thermoelectric energy between the work piece and electrode. Its capability of in hard difficult to cut materials has made it most popular. Tungsten carbide widely used industry due its unique properties combination hardness wear resistance. But tungsten very difficult. In our research we tried find optimized procedure by variation different parameters so that can be carried out maximum Material Removal Rate (MRR) with...

Wearable exoskeletons offer interesting possibilities to address the global concerns of ageing society and hence many researchers industries are investing significant resources develop new innovations in area physical assistance. An important issue providing effective assistance is how needed torques can be generated efficiently effectively. This paper considers this explores use continuous variable transmissions (CVT) for up-grading/downgrading so that torque variations performing motions...

In this paper, modeling, analysis and real-time stabilization of a cart pendulum system is performed. The the typical benchmark example underactuated has been used for examine different control schemes. Cart represents wide range realistic systems like rocket propeller, tank missile launcher, self-balancing robot, biped walking, etc. main aim work to investigate performance controller in stabilizing inverted at unstable equilibrium point. done both analytical experimental manners validation...

Inverted pendulum is a highly unstable, nonlinear and an under-actuated system. Its dynamics resembles many real-time systems such as segways, self-balancing robots, vertical take-off landing aircraft (VTOL) crane lifting containers etc. These applications demand the need of robust controller. In literature, different control strategies have been discussed to stabilize inverted pendulum, out them, most being fuzzy sliding mode control. The former difficult tune has problem rule explosion for...

Stand–sit–stand (STS) motions are the most frequently performed activities of everyday life and require extensive movement knee joint. People suffering from joint disorders face difficulties in performing this motion. The compact exoskeleton (KE) has proven to be a viable, less complex, cheaper alternative available entire lower-, upper-, full-body exoskeletons. With growing number technical glitches finite battery problems, there exist risks sudden failure actuator KE that could detrimental...