Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle

Shaoshuai Li; Yufeng Luo; Zhixin Shi; Dongfu Xie; Zhenkun Liu

doi:10.16578/j.issn.1004.2539.2019.03.014

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Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle

Design· Calculation | 更新时间：2022-10-03

- Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle
- Journal of Mechanical Transmission Vol. 43, Issue 3, Pages: 76-82(2019)
- 作者机构：
  
  1.南昌大学机电工程学院，江西南昌 330031
  2.华东交通大学，江西南昌 330013
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.03.014
  CLC：
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李少帅,罗玉峰,石志新等.基于踝关节运动特性的三转动并联机构构型优选及仿真分析[J].机械传动,2019,43(03):76-82.

Li Shaoshuai,Luo Yufeng,Shi Zhixin,et al.Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle[J].Journal of Mechanical Transmission,2019,43(03):76-82.
李少帅,罗玉峰,石志新等.基于踝关节运动特性的三转动并联机构构型优选及仿真分析[J].机械传动,2019,43(03):76-82. DOI： 10.16578/j.issn.1004.2539.2019.03.014.

Li Shaoshuai,Luo Yufeng,Shi Zhixin,et al.Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle[J].Journal of Mechanical Transmission,2019,43(03):76-82. DOI： 10.16578/j.issn.1004.2539.2019.03.014.

摘要

根据人体踝关节的运动生理特点和并联机构的特点，以单开链为单元，基于方位特征集理论，对三转动并联机构进行了型综合；结合踝关节的特点，优选出了一种能辅助实现人体踝关节运动的三转动并联机构，并对其进行了运动学分析。基于建立的逆解方程，利用Matlab进行数据求解，最后将所得数据作为驱动函数在Adams中对机构进行仿真分析，仿真结果验证了该并联机构的应用可行性，同时为后续的机构尺寸优化设计提供了理论基础。

Abstract

According to the physiological characteristics of human ankle and parallel mechanism， several 0T3R parallel mechanisms are synthesized based on the Position and Orientation Characteristics （POC） set by taking the Single-Opened Chain （SOC） as the unit. Then combined with the characteristics of human ankle， one of the 0T3R parallel mechanisms is selected， and its kinematics analysis is carried out. Based on the established inverse displacement solution equation and by using the Matlab， the data solving is carried out. Finally， the obtained data is used as the driving function to simulate the mechanism in Adams. The simulation results verify the feasibility of the parallel mechanism， and a theoretical basis for the subsequent optimization design of mechanism size is provided.

关键词

康复机器人踝关节并联机构方位特征集运动学分析仿真

Keywords

Rehabilitation robotAnkle jointParallel mechanismPOC setKinematics analysisSimulation

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