Simulation of a parallel mechanical elbow with 3 DOF

 

J. R. Mendoza–Vázquez*¹, E. Tlelo–Cuautle², J.L. Vázquez–Gonzalez³, A. Z. Escudero–Uribe⁴

 

^1,2,4 Instituto Nacional de Astrofísica, Optica y Electrónica, Puebla, Mexico. *jrmendoza@inaoep.mx

³ Universidad de las Américas Puebla (UDLA–P).

 

ABSTRACT

The kinematics simulation and modeling of a mechanical elbow of 3 degrees of freedom, is introduced by highlighting the main features of the mechanism related to the design criteria. The mechanical elbow is used as a transhumeral prosthetic part, and it has been built as a parallel topology consisting of electric linear actuators and universal joints. The parallel mechanism has 4 legs. 3 are electric linear actuators, and the fourth leg provides mechanical support for the whole structure and holds a DC Motor that performs the action of gripping objects. Furthermore, this paper shows the inverse kinematics for the elbow by geometric methods, and the MatLab–simulation results show the workspace of the movement and the ability of the mechanical elbow to replicate the movements of a biological one.

Keywords: Kinematics, Modeling, Simulation, Robot kinematics.

 

RESUMEN

El propósito de este documento es mostrar el modelado y simulación de un codo mecánico de 3 grados de libertad empleado como prótesis de codo transhumeral. El mecanismo paralelo tiene 4 piernas de las cuales 3 son actuadores eléctricos lineales y la cuarta pierna proporciona soporte mecánico para toda la estructura y aloja un motor que realiza la prensión de objetos. En el trabajo se resumen las principales características del mecanismo acorde con los criterios de diseño empleados. Se desarrolla la cinemática inversa para el codo por metodos geometricos y los resultados son usados con propósitos de simulación para mostrar el espacio de trabajo y su capacidad de movimiento para replicar los movimientos de un codo biológico. Las simulaciones son desarrolladas bajo el ambiente de MatLAB.

Palabras clave: cinemática, simulación, modelado, cinemática de robot.

 

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