RAFT ROBOT: Medical bed using simulation

Simulation of medical bed by using model based design and mathematical equation.

The aim of this project is to development of medical bed rehabilitation using 2-RPS 1-PRS (R: Revolute ; P: Prismatic; S: Spherical) parallel mechanism the architecture of the manipulator is comprised of a moving platform attached to a fixed platform through two revolute-prismatic-spherical jointed serial linkages and one prismatic-revolute-spherical jointed serial linkage. The prismatic motions of the prismatic joints are considered to be actively actuated. In this project, the parallel mechanism robot has 3-DOF (Degree of Freedom) the moving platform of the manipulator has one-translational and two rotational with respect to the fixed platform. The inverse kinematics was expressed in term of Z-Y-Z Euler angles. Algorithms of the inverse kinematics method will be analyzed for 2-RPS 1-PRS mechanism. The algorithm will be developed in MATLAB and MATLAB GUI will use for testing of mathematical model. 3D medical bed will be designed by using Inventor software. Simscape multibody software will connect from Inventor to MATLAB Simulink. Model-based design will be created in MATLAB Simulink. Once model based design in MATLAB Simulink done, it will show the simulation of medical bed. The final phase of the project is the application on the hardware component of the medical bed. Lastly, verification of simulation and hardware of medical bed by testing the mathematical equation that had been implement in the simulation and hardware.