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COURSE WORK 1
br>ROBOT LINKAGE ANALYSIS AND KINEMATICS
1 Introduction
The pace of population ageing is much faster than that in the past with an increasing number
of individuals suffer from mobility challenges. The major barrier for such individuals to
accomplish their daily physical activities is the ability to stand from a sitting position.
This group coursework is to generate an analysis report on the design of a robot that could
provide effective assistance to overcome the mobility challenge for the elderly and persons
with disabilities. A group report can be submitted by a group representative but with a front
cover page stating each person’s task and responsibility in the group work. Each member of
the group needs to submit one page per person to describe own contributions, results,
achievements, and experience learned.
2 Task
You are given a design prototype of a sit-to-stand robot. The mechanism and the active joint
are shown in Figure 1. The red circle indicates the end-effector of the robot which would be
attached to the user’s leg (link 8) with a revolute joint. In the sitting configuration, link 8 is
parallel to the x-axis while in the standing configuration, link 8 is parallel to the y-axis. Figure
2 and Table 1 show the position of each joint at the initial configuration.