Article
Version 1
This version is not peer-reviewed
Eight-Bar Elbow Joint Exoskeleton Mechanism
Version 1
: Received: 2 August 2024 / Approved: 5 August 2024 / Online: 6 August 2024 (03:26:41 CEST)
How to cite: Figliolini, G.; Lanni, C.; Tomassi, L.; Ortiz, J. Eight-Bar Elbow Joint Exoskeleton Mechanism. Preprints 2024, 2024080305. https://doi.org/10.20944/preprints202408.0305.v1 Figliolini, G.; Lanni, C.; Tomassi, L.; Ortiz, J. Eight-Bar Elbow Joint Exoskeleton Mechanism. Preprints 2024, 2024080305. https://doi.org/10.20944/preprints202408.0305.v1
Abstract
This paper deals with the design and kinematic analysis of a novel mechanism for the elbow joint of an upper-limb exoskeleton, with the aim of helping operators, in terms of effort and physical resistance, in carrying out heavy operations. In particular, the proposed eight-bar el-bow joint exoskeleton mechanism consists of a motorized Watt I six-bar linkage and a suitable RP dyad, which connects mechanically the external parts of the human arm with the corre-sponding forearm by hook and loop velcro and thus, helping their closing relative motion for lifting objects during repetitive and heavy operations. This relative motion is not a pure rotation and thus, the upper part of the exoskeleton is fastened to the arm, while the lower part is not rigidly connected to the forearm, but through a prismatic pair which allows both rotation and sliding along the forearm axis. Instead, the human arm is sketched by means of a crossed four-bar linkage, which coupler link is considered as attached to the glyph of the prismatic pair, that is fastened to the forearm. Therefore, the kinematic analysis of the whole ten-bar mecha-nism, which is obtained by joining the Watt I six-bar linkage and the RP dyad to the crossed four-bar linkage, is formulated to investigate the main kinematic performance and for design purposes. The proposed algorithm has given several numerical and graphical results. Finally, a double-parallelogram linkage, as particular case of the Watt I six-bar linkage, was considered in combination with the RP dyad and the crossed four-bar linkage, by giving a first mechanical de-sign and a 3D printed prototype.
Keywords
upper-limb exoskeleton; elbow joint; multi-loop mechanisms; kinematic analysis; mechanical design
Subject
Engineering, Mechanical Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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