Kinematic and static analysis of the cable-driven spatial mechanism for bedridden patients
Thais Muraro1; Henrique Simas1; Daniel Martins1
1 Federal University of Santa Catarina
doi:10.20906/CPS/COB-2015-2043
Resumo
The lack of postural correction and handling of bedridden patients leads to a number of complications to themselves and to caregiver, including falls. The movement and accommodation of these patients for regular checkups or even to the practice of hygiene activities and eating also become difficulties. Scabs and cardiovascular complications are other problems that bedridden face due to restricted mobility. The solution proposed here is the use of a spatial cable-driven robot, which can be easily handled and moved around, thus providing greater autonomy and comfort to patients with needs and significant improvements in working conditions for health professionals. Robots actuated by cables have gained importance in recent decades and because they consist in parallel structures they are considered descendants of the Stewart Platform. In order to present the robot model, the mechanism's analytical inverse kinematics has already been developed, thus obtaining the length of each cable and the attachment of each point on the mobile platform, given a certain posture and orientation. From these data it is possible to analyze the static model using the Davies method in order to evaluate the torque on the motors and tension in the cables.
Palavras-chave: Kinematic and static analysis; cable-driven robot; assistive technology