Dynamic Analysis of a Spherical Parallel Robot Used for Brachial Monoparesis Rehabilitation
This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis.It starts from the virtual Scopes model of the existing version of the ASPIRE robot, which is analysed kinematically and dynamically by numerical simulations using the MSC.ADAMS software.For this purpose, this