Analysis of 3-SPS/S Parallel Mechanism for Human Ankle Rehabilitation and Kinematic

Liu Xingfang; Miao Hongbin; Chen Jingyao; Liu Na

doi:10.16578/j.issn.1004.2539.2018.03.003

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Analysis of 3-SPS/S Parallel Mechanism for Human Ankle Rehabilitation and Kinematic

更新时间：2022-10-20

- Analysis of 3-SPS/S Parallel Mechanism for Human Ankle Rehabilitation and Kinematic
- Vol. 42, Issue 3, Pages: 9-12(2018)
- 作者机构：
  
  1. 中北大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.03.003
  CLC：
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[1]刘兴芳,苗鸿宾,陈菁瑶,刘娜.并联3-SPS/S踝关节康复机构及运动分析[J].机械传动,2018,42(03):9-12.

Liu Xingfang, Miao Hongbin, Chen Jingyao, et al. Analysis of 3-SPS/S Parallel Mechanism for Human Ankle Rehabilitation and Kinematic. [J]. 42(3):9-12(2018)
[1]刘兴芳,苗鸿宾,陈菁瑶,刘娜.并联3-SPS/S踝关节康复机构及运动分析[J].机械传动,2018,42(03):9-12. DOI： 10.16578/j.issn.1004.2539.2018.03.003.

Liu Xingfang, Miao Hongbin, Chen Jingyao, et al. Analysis of 3-SPS/S Parallel Mechanism for Human Ankle Rehabilitation and Kinematic. [J]. 42(3):9-12(2018) DOI： 10.16578/j.issn.1004.2539.2018.03.003.

摘要

针对现有踝关节康复机构的现状,提出一种3-SPS/S并联康复机构。介绍机构组成;计算自由度并建立了位置逆解方程。结合数值算例,应用MATLAB对逆解方程进行求解,并利用ADAMS对求解结果进行仿真验证。仿真结果表明,该机器人可通过改变支链移动输入量满足踝关节康复所需活动。

Abstract

A 3-SPS/S parallel rehabilitation mechanism is proposed for the present situation of ankle rehabilitation institutions and the constitution of mechanism is introduced. The degree of freedom is calculated and the position inverse solution equation is established. Combined with numerical examples,the solution of the inverse equation is solved by MATLAB and the simulation results are verified by ADAMS. The simulation results show that the robot can meet the needs of ankle joint rehabilitation by changing the branching movement input.

关键词

康复机构运动学踝关节Adams

Keywords

RehabilitationKinesmaticsAnkleAdams

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