Abstract
Mechanical arm equipped on the intelligent wheelchair has the same characteristics with the common robot. And the mechanical arm installed on a wheelchair has greater research value in helping the elder and disabled. This paper focus on the kinematics of four DOF mechanical arm equipped on wheelchair, developing a mathematical model in order to realize the control of it and establishing the mechanical arm’s kinematics equations by using D-H conventions. Analyze its work space and structural strength based on MATLAB and ANSYS, which laid the foundation for design optimization and control application.
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