Research of the Workspace of Bionic Auxiliary Device for Ankle Rehabilitation based on Rigid-Flexible Combination Drive

Wang Liangwen; Li Hongpeng; Wang Xinjie; Du Weliao; Wang Caidong; Son Kangkang

doi:10.16578/j.issn.1004.2539.2016.09.007

您当前的位置：

首页 >

文章列表页 >

Research of the Workspace of Bionic Auxiliary Device for Ankle Rehabilitation based on Rigid-Flexible Combination Drive

更新时间：2022-10-20

- Research of the Workspace of Bionic Auxiliary Device for Ankle Rehabilitation based on Rigid-Flexible Combination Drive
- Vol. 40, Issue 9, Pages: 32-37(2016)
- 作者机构：
  
  1. 郑州轻工业学院机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.09.007
  CLC：
扫描看全文
[1]王良文,李洪鹏,王新杰,杜文辽,王才东,宋康康.基于刚柔混合驱动的仿生踝关节辅助康复装置的工作空间研究[J].机械传动,2016,40(09):32-37.

Wang Liangwen, Li Hongpeng, Wang Xinjie, et al. Research of the Workspace of Bionic Auxiliary Device for Ankle Rehabilitation based on Rigid-Flexible Combination Drive. [J]. 40(9):32-37(2016)
[1]王良文,李洪鹏,王新杰,杜文辽,王才东,宋康康.基于刚柔混合驱动的仿生踝关节辅助康复装置的工作空间研究[J].机械传动,2016,40(09):32-37. DOI： 10.16578/j.issn.1004.2539.2016.09.007.

Wang Liangwen, Li Hongpeng, Wang Xinjie, et al. Research of the Workspace of Bionic Auxiliary Device for Ankle Rehabilitation based on Rigid-Flexible Combination Drive. [J]. 40(9):32-37(2016) DOI： 10.16578/j.issn.1004.2539.2016.09.007.

摘要

介绍了一种基于刚柔混合驱动的仿生踝关节辅助康复装置,该装置具有两个自由度,但能近似实现踝关节的三维运动。为了分析该装置的康复效果,对其工作空间进行了研究。为此,首先给出了该装置的工作条件,对工作空间的约束进行了分析;然后,在此基础上建立了工作空间的数字化求解模型;最后,采用Matlab进行了踝关节辅助康复装置的工作空间计算。分析结果可以作为踝关节辅助康复装置优化结构、最终确定参数的依据。研究过程为多运动模式的机构的工作空间研究提供了参考。

Abstract

A kind of auxiliary device for ankle rehabilitation based on rigid-flexible combination drive is introduced. The device has two degrees of freedom,while three-dimensional movement of the ankle can be achieved approximately. To analyze the rehabilitation effect of the device,the working spaces are studied. First,the device working conditions are given,and the constraints of the working space are analyzed. Then,the digital solution model for working space is established. Finally,the working spaces of the device are calculated by using Matlab. The analysis results can be used to optimize the device structure and determine its characteristic parameter. The process of this research can be as a reference for research of working spaces of mechanism with multiple movement mode.

关键词

踝关节仿生辅助康复装置工作空间

Keywords

AnkleBionicAuxiliary rehabilitation deviceWorkspace

references

Views

175

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Modeling and Analysis of Inverse Kinematics for Three Degrees of Freedom Ankle Joint Auxiliary Rehabilitation Device based on Ball Pair

Analysis and Motion Modeling of Bionic Auxiliary Device for Ankle Rehabilitation

1R2T-1R Type Rope-driven Lower Limb Rehabilitation Robot Kinematics and Its Workspace

Ontology Design and Workspace Analysis of Large Complex Component Processing Robots

Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation

Related Author

No data

Related Institution

Henan Key Laboratory of Mechanical Equipment Intelligent Manufacturing,School of Electromechanical Science and Engineering,Zhengzhou University of Light Industry

Henan Huanghe Whirlwind Co.,Ltd.

Mechanical and Electrical Engineering Institute,Zhengzhou University of Light Industry

College of Mechanical Engineering, North China University of Science and Technology

School of Mechanical Engineering, Guilin University of Aerospace Technology

⁰