Akademik Veri Yönetim Sistemi
International Conference on Engineering Technologies (ICENTE’22), Konya, Türkiye, 17 - 19 Kasım 2022, cilt.1, ss.277-281
This study addressed the motion and dynamic analysis of a dual-arm rehabilitation robot proposed for the treatment of various head-neck orthopedic disorders. In this robotic system, each arm has six degrees of freedom (DOF) and only the first four joints of the arms are actuated. The whole system is designed kinematically to form as a closed loop and to move without locking during operations. A dynamic model was created using Newton-Euler equations to calculate the driving torques and reaction force/moments of the arms that make the rehabilitation robot performed on the desired motion. Considering the whole robotic system, this dynamic model creates a redundant structure. In order to realize the desired head-neck motions safely, the set of the inverse dynamic equations is resolved according to the optimization of the reaction force/moments at the gripper point to hold the head and the actuator torques.