P（2-RPS）&amp;U Reconfigurable Rehabilitation Mechanism Used for Human Joint and Its Kinematics Analysis

Wangwang Guo; Ruiqin Li; Fengping Ning

doi:10.16578/j.issn.1004.2539.2019.03.007

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P（2-RPS）&U Reconfigurable Rehabilitation Mechanism Used for Human Joint and Its Kinematics Analysis

Design· Calculation | 更新时间：2022-10-03

- P（2-RPS）&U Reconfigurable Rehabilitation Mechanism Used for Human Joint and Its Kinematics Analysis
- Journal of Mechanical Transmission Vol. 43, Issue 3, Pages: 35-40(2019)
- 作者机构：
  
  1.中北大学机械工程学院，山西太原 030051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.03.007
  CLC：
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郭旺旺,李瑞琴,宁峰平.用于人体关节的P（2-RPS）&U可重构康复机构及运动学分析[J].机械传动,2019,43(03):35-40.

Guo Wangwang,Li Ruiqin,Ning Fengping.P（2-RPS）&U Reconfigurable Rehabilitation Mechanism Used for Human Joint and Its Kinematics Analysis[J].Journal of Mechanical Transmission,2019,43(03):35-40.
郭旺旺,李瑞琴,宁峰平.用于人体关节的P（2-RPS）&U可重构康复机构及运动学分析[J].机械传动,2019,43(03):35-40. DOI： 10.16578/j.issn.1004.2539.2019.03.007.

Guo Wangwang,Li Ruiqin,Ning Fengping.P（2-RPS）&U Reconfigurable Rehabilitation Mechanism Used for Human Joint and Its Kinematics Analysis[J].Journal of Mechanical Transmission,2019,43(03):35-40. DOI： 10.16578/j.issn.1004.2539.2019.03.007.

摘要

基于人体关节运动机理和可重构理念，提出一种P（2-RPS）&U可重构康复机构，通过锁定运动副，改变动平台的运动方式，可以分别实现对人体肘关节、膝关节和踝关节的康复训练。分析了P（2-RPS）&U可重构康复机构的位置逆解，并基于螺旋理论分析了该机构的位置奇异性，得到机构的两个奇异位置，通过添加驱动的方式避免了奇异位置的发生。使用Adams软件对P（2-RPS）&U可重构康复机构进行运动学仿真，仿真结果表明，该机构能够较好地达到人体肘关节、膝关节和踝关节康复运动的范围，满足受损关节的康复需求。

Abstract

Based on the motion mechanism of human joints and reconfigurable concept， a P（2-RPS）&U reconfigurable rehabilitation mechanism is proposed. By locking the kinematic pairs to change the movement mode of the moving platform， the rehabilitation training of human elbow joint， knee joint and ankle joint can be realized， respectively. The inverse solution of the P（2-RPS）&U reconfigurable rehabilitation mechanism is analyzed and its position singularity is analyzed based on the screw theory. And the two singularity positions of the mechanism are obtained. The singularity positions can be avoided by adding the driver. The kinematics simulation of the P（2-RPS）&U reconfigurable rehabilitation mechanism is carried out by using Adams software. The simulation results show that the mechanism could reach the range of rehabilitation movements of human elbow， knee and ankle joints， and satisfy the rehabilitation requirements of damaged joints.

关键词

可重构康复机构肘关节膝关节踝关节运动学

Keywords

Reconfigurable rehabilitation mechanismElbow jointKnee jointAnkle jointKinematics

references

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P（2-RPS）&U Reconfigurable Rehabilitation Mechanism Used for Human Joint and Its Kinematics Analysis

DOI：10.16578/j.issn.1004.2539.2019.03.007

摘要

Abstract

关键词

Keywords

references