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On the Design of the Exoskeleton Arm with Decoupled Dynamics

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New Trends in Medical and Service Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 39))

Abstract

This paper focuses on the design of a 2-DOF exoskeleton arm with decoupled dynamics. The goal is to simplify the controller design by reducing the effects of complicated manipulator dynamics. The added epicyclic gear train allows the optimal redistribution of kinetic energy, which leads to the linearization and decoupling of the dynamic equations. The determination of the parameters of the added links is based on eliminating coefficients of nonlinear terms in the manipulator’s kinetic and potential energy equations. The suggested design methodology is illustrated by simulations carried out using the software ADAMS.

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Acknowledgments

This work is supported by the Pays de la Loire Region, the Project LMA and “Gérontopôle Autonomie Longévité” of the Pays de la Loire Region.

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Authors and Affiliations

  1. IRCCyN, 1 Rue de La Noë, BP 92101, 44321, Nantes Cedex 03, France

    V. Arakelian, Y. Aoustin & C. Chevallereau

  2. Department of Mechanical and Control Systems Engineering, I.N.S.A. Rennes, 20 avenue des Buttes de Coësmes CS 14315, 35043, Rennes, France

    V. Arakelian

Authors
  1. V. Arakelian
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  2. Y. Aoustin
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  3. C. Chevallereau
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Corresponding author

Correspondence to V. Arakelian .

Editor information

Editors and Affiliations

  1. Ecole Centrale de Nantes 1, Institut de Recherche en Communications, Nantes Cedex 03, France

    Philippe Wenger

  2. Ecole Centrale de Nantes 1, Inst Rec Comm Cybernetique Nantes, Nantes cedex 3, France

    Christine Chevallereau

  3. Research Center for Industrial Robo, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  4. IMT - LSRO1, EPFL, Lausanne, Switzerland

    Hannes Bleuler

  5. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

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Arakelian, V., Aoustin, Y., Chevallereau, C. (2016). On the Design of the Exoskeleton Arm with Decoupled Dynamics. In: Wenger, P., Chevallereau, C., Pisla, D., Bleuler, H., Rodić, A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer, Cham. https://doi.org/10.1007/978-3-319-30674-2_11

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  • DOI: https://doi.org/10.1007/978-3-319-30674-2_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-30673-5

  • Online ISBN: 978-3-319-30674-2

  • eBook Packages: EngineeringEngineering (R0)

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