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Permanent link (DOI): https://doi.org/10.7939/R3S068

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Synthesis, kinematic modeling, parameter identification and control of a rehabilitation cable-driven robot Open Access

Descriptions

Other title
Subject/Keyword
robot
rehabilitation
cable-driven
Type of item
Thesis
Degree grantor
University of Alberta
Author or creator
Ghasemalizadeh, Omid
Supervisor and department
Lipsett, Michael (Mechanical Engineering)
Examining committee member and department
Tavakoli, Mahdi (Electrical & Computer Engineering)
Raboud, Donald (Mechanical Engineering)
Lipsett, Michael (Mechanical Engineering)
Department
Department of Mechanical Engineering
Specialization

Date accepted
2011-08-03T19:54:58Z
Graduation date
2011-11
Degree
Master of Science
Degree level
Master's
Abstract
The proposed mechanism in this study is a multi-body cable driven robot. The robot has 6 DOF. The thesis first presents the required concepts and definitions. Then a solution to the kinematic synthesis problem is reviewed. This solution includes an algorithm that finds all the sets of design parameters that make the robot span a desired workspace. Also, an optimization procedure is proposed to find the best possible answer to the synthesis problem. Moreover, a geometrical approach is used to develop a parameter identification method. This task is very important since in practice the fabricated and assembled parts involve errors. More importantly, the robot is supposed to be configured before each performance and the new parameters need to be identified with acceptable accuracy. Also, Impedance Control is investigated as a method of interest in rehabilitation. The simulation results on a simple shoulder rehabilitation cable robot are presented. The impedance Control makes the robot perform as a mass-spring-damper system. This property lets the patient deviate from the designated trajectory while guiding him towards the right path.
Language
English
DOI
doi:10.7939/R3S068
Rights
License granted by Omid Ghasemalizadeh (ghasemal@ualberta.ca) on 2011-08-03T19:12:37Z (GMT): Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of the above terms. The author reserves all other publication and other rights in association with the copyright in the thesis, and except as herein provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
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File author: Omid Ghasemalizadeh
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