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

Wang Liangwen; Song Kangkang; Shi Changmin; Wang Caidong; Du Wenliao

doi:10.16578/j.issn.1004.2539.2017.05.017

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

更新时间：2022-10-20

- Modeling and Analysis of Inverse Kinematics for Three Degrees of Freedom Ankle Joint Auxiliary Rehabilitation Device based on Ball Pair
- Vol. 41, Issue 5, Pages: 81-85(2017)
- 作者机构：
  
  1. 郑州轻工业学院机电工程学院河南省机械装备智能制造重点实验室
  2. 河南黄河旋风股份有限公司
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.05.017
  CLC：
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[1]王良文,宋康康,时长敏,王才东,杜文辽.基于球副的三自由度踝关节辅助康复装置逆运动学建模分析[J].机械传动,2017,41(05):81-85.

Wang Liangwen, Song Kangkang, Shi Changmin, et al. Modeling and Analysis of Inverse Kinematics for Three Degrees of Freedom Ankle Joint Auxiliary Rehabilitation Device based on Ball Pair. [J]. 41(5):81-85(2017)
[1]王良文,宋康康,时长敏,王才东,杜文辽.基于球副的三自由度踝关节辅助康复装置逆运动学建模分析[J].机械传动,2017,41(05):81-85. DOI： 10.16578/j.issn.1004.2539.2017.05.017.

Wang Liangwen, Song Kangkang, Shi Changmin, et al. Modeling and Analysis of Inverse Kinematics for Three Degrees of Freedom Ankle Joint Auxiliary Rehabilitation Device based on Ball Pair. [J]. 41(5):81-85(2017) DOI： 10.16578/j.issn.1004.2539.2017.05.017.

摘要

为实现踝关节辅助康复,开发了一种基于球副的三自由度踝关节辅助康复装置。该装置采用中心球副作为支撑,3个S’PS’支链进行驱动,可形成工作平台的三维运动,能实现踝关节背屈/跖屈运动、内翻/外翻运动以及内收/外展运动。在介绍该仿生踝关节辅助康复装置结构的基础上,对其进行了逆运动学建模分析。针对系统可以实现的多种运动模式,分别进行建模分析,给出了相关计算公式,并采用Matlab软件绘制了工作平台运动转角与驱动电机转角的关系图线。研究过程为同类结构的机构分析提供了参考。

Abstract

In order to realize ankle recovery,a kind of auxiliary device for ankle rehabilitation based on a ball pair is developed. The device adopts the center ball pair as the support,and 3S’PS’ branch chain as drive system,the three-dimensional motion of the working platform can be formed,and the dorsal flexion/plantar flexion movement,varus/valgus movement and adduction/abduction movement can be realized for ankle. Based on introducing the structure of the rehabilitation device,an inverse kinematic modeling and analysis for the device are performed. Arming at the multiple kind of movement patterns of system,an inverse kinematic modeling and analysis are completed respectively. The related calculation formulas are deduced and relation charts of motion angle between working platform and motor are plotted by using the Matlab. The research process provides a reference for the mechanism analysis of similar structure.

关键词

踝关节仿生辅助康复装置逆运动学建模

Keywords

AnkleBionicAuxiliary rehabilitation deviceInverse kinematic modeling

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