Abstract
Recently, more attention has been paid for assisting elderly and people with various disabilities, hence assistive robots have gained much popularity. These robots are usually in a direct contact with the user, therefore dynamic modeling is important for precise control. In this paper, dynamic model for a parallel manipulator-based mobility assistive device is first developed using the first type of Lagrange's equations and simulated using MATLAB software. Also, a CAD model of the device is simulated using ADAMS dynamic simulation software for comparison. Both simulations are performed using the same system parameters and end-effector trajectory. In these simulations, the natural trajectory of human motion during sit to stand activity is used. This trajectory is determined using VICON human motion capturing system. Simulations show a good agreement between the results obtained using the dynamic model and the ones obtained using ADAMS software with a root mean square error less than 0.2% for all calculated results.
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