Inverse Dynamics and Simulation of a Parallel Robot Used in Shoulder Rehabilitation

摘要

The paper presents the inverse dynamics of a medical parallel robot used for shoulder rehabilitation, namely ASPIRE robot. Using the robot inverse kinematics, the inverse dynamic model of ASPIRE is obtained in a closed form using the principle of virtual work associated with the equivalent dynamic lump masses of the experimental model. In addition, Siemens NX is used to perform the kinematic and dynamic simulation for the parallel robot. The simulation results are compared to those derived from the theoretic inverse dynamic model and the comparison shows the validity of the mathematical model.