摘要
针对农机驾驶员长期踩踏操作导致踝关节易受损伤的问题,设计了一种基于(2-CRS-PU)&R构型的混联式踝关节康复训练装置。通过对某农机合作社68名拖拉机驾驶员的调研,发现踝关节不适发生率高达92.6%,表明该问题亟待解决。装置采用并联机构与串联机构相结合的复合结构,能够实现踝关节屈伸、内外翻及旋转等四自由度运动,满足踝关节全方位康复训练需求。基于螺旋理论建立了机构运动学模型,并通过ADAMS动力学仿真对装置的运动性能进行了验证。仿真结果表明:装置运动输出稳定,各自由度运动耦合度低,工作空间布局合理,运动性能良好。该装置结构紧凑、控制精度高,为农机驾驶员踝关节康复训练提供了有效的技术解决方案。
To address the issue of ankle joint vulnerability to injuries among agricultural machinery operators due to long-term pedal operation,a hybrid ankle rehabilitation training device based on the(2-CRS-PU)&R configuration was designed.A survey conducted on 68 tractor operators from an agricultural machinery cooperative revealed that the incidence of ankle discomfort reached as high as 92.6%,indicating an urgent need to resolve this problem.The device adopts a composite structure combining a parallel mechanism and a serial mechanism,enabling four degrees of freedom(DOF)movements of the ankle joint,including flexion-extension,inversion-eversion,and rotation.This design meets the requirements of comprehensive ankle rehabilitation training.A kinematic model of the mechanism was established based on screw theory,and the motion performance of the device was verified through ADAMS dynamic simulation.The simulation results show that the device has stable motion output,low motion coupling degree among different DOFs,a reasonable workspace layout,and excellent motion performance.With its compact structure and high control precision,this device provides an effective technical solution for ankle rehabilitation training of agricultural machinery operators.
作者
寇东东
宫丽男
刘宇航
周昱航
KOU Dongdong;GONG Linan;LIU Yuhang;ZHOU Yuhang(College of Electromechanical,Changchun Polytechnic University,Changchun 130022,China)
出处
《农机使用与维修》
2025年第11期6-10,共5页
Agricultural Machinery Using & Maintenance
基金
2025年度吉林省教育厅科学研究项目(JJKH20251882KJ)
吉林省2025年度职业教育与成人教育教学改革研究课题(2025ZCY426)。
