Stiffness Analysis of Parallel Cable-Driven Upper Limb Rehabilitation Robot
Yupeng Zou,
Xiangshu Wu,
Baolong Zhang,
Qiang Zhang,
Andong Zhang,
Tao Qin
Affiliations
Yupeng Zou
College of Mechanical and Electronic Engineering, China University of Petroleum (East China), Qingdao 266580, China
Xiangshu Wu
College of Mechanical and Electronic Engineering, China University of Petroleum (East China), Qingdao 266580, China
Baolong Zhang
College of Mechanical and Electronic Engineering, China University of Petroleum (East China), Qingdao 266580, China
Qiang Zhang
College of Mechanical and Electronic Engineering, China University of Petroleum (East China), Qingdao 266580, China
Andong Zhang
College of Mechanical and Electronic Engineering, China University of Petroleum (East China), Qingdao 266580, China
Tao Qin
Xiangyang Key Laboratory of Rehabilitation Medicine and Rehabilitation Engineering Technology, Hubei University of Arts and Science, Xiangyang 441053, China
This paper studies the stiffness of the parallel cable-driven upper limb rehabilitation robot (PCUR). Firstly, it was derived that the static stiffness expression of the PCUR was composed of platform pose stiffness KT and cable pose stiffness KS. It indicated that the static stiffness of the PCUR was related to the cable tension, the arrangement of the cable, and the cable stiffness. Secondly, a simulation model in MATLAB/Simscape Multibody was built. Cable tension was applied to make the moving platform in a static equilibrium state. The stiffness of the PCUR and the external force on the moving platform were changed, and the motion characteristics of the moving platform were obtained. Finally, the position changes of the moving platform under different external forces were analyzed, and the motion laws of the moving platform under different stiffnesses were summarized.
