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Title: Design and development of a rehabilitation robotic arm
Authors: Tong, Gabriel Cheng Wei
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2021
Publisher: Nanyang Technological University
Source: Tong, G. C. W. (2021). Design and development of a rehabilitation robotic arm. Final Year Project (FYP), Nanyang Technological University, Singapore.
Project: A177
Abstract: This report presents the design and analysis for an assistive rehabilitation robotic arm intended for wheelchair bound stroke patients to enable them to go through therapy at home. The designs of current rehabilitative robotic arms are too cumbersome and expensive, resulting in them being extremely restrictive and inflexible. It is not feasible for the patient to carry out their therapy in a familiar home environment. Therefore, there is a need for a unique design to allow patients to have a new alternative for their rehabilitation journey. In this report, a 2RRR-P-Scable configuration of a robotic arm is proposed. This will allow for 6 degrees of freedom, enabling the patient to cover a wide workspace while having minimal stress on the motors. This configuration will aim to cover the shoulder, elbow, and wrist of the patient and is an end-effector based robot. For this to work as intended, the usage of cables is implemented within the design to actuate the wrist functions. After going through the design and the advantages that it brings, analysis is conducted on the robotic arm. These analyses include the forward kinematics, inverse kinematics, and the dynamic analysis. This step is vital because it brings forth the kinematic and dynamic components of the entire structure. With this knowledge, precise design variables can be obtained.
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

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