Abstract
A gravity balancing assistant arm design in 3-D is a mechanical mechanism consisted of springs, rigid rods, joints and sliders, which can be modified to the geometry and inertia of the arm of stroke patients. This mechanism is designed without any controllers and motors, based solely on mechanical principles, to achieve a relative balance of gravitational potential energy and elastic potential energy, thereby reducing the burden on the arm of a stroke patient to facilitate rehabilitation. To achieve this function, first, the center of gravity of the patient’s arm will be positioned, and then the mounting position of the spring on the assistant arm will be determined. In this paper, the following objectives will be achieved: (i) the calculation of the gravitational potential energy and the elastic potential energy in the mechanism (ii) the simplification of the potential energy equation and the elimination of the coefficient of the items related to the angle. (iii) The comparison between 2-D and 3-D cases of the mechanism. (iv) The motion process of simulating the mechanism using MATLAB (v) Using MATLAB to create the energy plots (vi) Using SolidWorks to construct the prototype of the mechanism (vii) Describe the practical application and future extensions of this mechanism.
Highlights
The gravity balancing mechanism means that in a set of mechanisms composed of springs, rigid links, joints and sliders, where the sum of the gravitational potential energy and the elastic potential energy is kept constant. [1]This mechanism is widely used in industrial and medical rehabilitation. [2]For example, in industrial, it is usually necessary to balance robotic arm’s own gravity to achieve more precise control objectives. [3]In a rehabilitation field, gravity balance can reduce the patient’s weight and facilitate rehabilitation
This 3-D gravity balancing mechanism as shown in figure 1. It includes four rigid links, which are Link − AD (There are only rotation on this link, but not translation) Link − BC, Link − CD, Link − DE ; Two springs, which are Spring −1and Spring − 2; Four joints, which are Join − A, Join − B, Join − C and Join − E ; One slider, which is Slider − D that can rotate in Y − axis, this is a critical design for the whole mechanism
The design principle, free-body diagram and 3-d model created by SolidWorks are depicted in the preceding part of the report
Summary
The gravity balancing mechanism means that in a set of mechanisms composed of springs, rigid links, joints and sliders, where the sum of the gravitational potential energy and the elastic potential energy is kept constant. [1]This mechanism is widely used in industrial and medical rehabilitation. [2]For example, in industrial, it is usually necessary to balance robotic arm’s own gravity to achieve more precise control objectives. [3]In a rehabilitation field, gravity balance can reduce the patient’s weight and facilitate rehabilitation. [3]In a rehabilitation field, gravity balance can reduce the patient’s weight and facilitate rehabilitation. [2]For example, in industrial, it is usually necessary to balance robotic arm’s own gravity to achieve more precise control objectives. It increases the reliability and safety of the mechanism by reducing the use of motors and control. The existing gravity balance mechanism is mostly limited to two dimensions. [4]it is necessary to design a simple and feasible three-dimensional gravity balance mechanism, which will be implemented in this paper.[5] The existing gravity balance mechanism is mostly limited to two dimensions. [4]it is necessary to design a simple and feasible three-dimensional gravity balance mechanism, which will be implemented in this paper.[5]
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