摘要
在分析现有踝关节康复机构的基础上,提出一种基于3-UPU并联机构的新型踝关节康复机构,该机构具有3个自由度,能够实现踝关节的旋前/旋后、内翻/外翻运动,并且该机构的转动轴线可实现高度和角度方向的调节,从而使机构转动轴线与人体踝关节运动轴线更好的吻合,给患者带来更好的康复效果。求解了机构的自由度,运动学反解,并根据踝关节康复要求对机构尺寸进行确定,进一步求解了机构的工作空间,对机构的运动学进行了仿真验证和样机运动试验。
Based on the analysis of existing ankle rehabilitation institutions, a new ankle rehabilitation mechanism based on 3-UPU parallel mechanism is proposed. The mechanism has three degrees of freedom, can achieve ankle pronation/supination, varus/valgus movement. And the axis of rotation of the mechanism can adjustment in height and angular direction. Therefore, the rotation axis of the mechanism can be better matched with the motion axis of the human ankle joint and bring better rehabilit ation effect to the patients. The inverse kinematics and DOF of the mechanism are solved. According to the ankle rehabilitative requirements, the size of the mechanism is determined, and the workspace of the mechanism is further solved. Finally, the kinematics of the mechanism is simulated and verified by the prototype.
作者
陈子明
尹涛
潘泓
赵琛
闫升亲
李艳文
黄真
CHEN Ziming;YIN Tao;PAN Hong;ZHAO Chen;YAN Shengqin;LI Yanwen;HUANG Zhen(Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao 066004;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2020年第21期70-78,共9页
Journal of Mechanical Engineering
基金
国家自然科学基金资助项目(51775474)。
关键词
踝关节康复
并联机构
运动学分析
工作空间
ankle rehabilitation
parallel mechanism
kinematic analysis
workspace
