3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis

Jianzhong Zhang; Guanghao Zhang; Huazeng Hu; Feng Li

doi:10.16578/j.issn.1004.2539.2019.05.025

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3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis

Test·Analysis | 更新时间：2022-10-03

- 3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis
- Journal of Mechanical Transmission Vol. 43, Issue 5, Pages: 130-133(2019)
- 作者机构：
  
  1.山东科技大学泰安校区机电工程系，山东泰安 271000
  2.山东科技大学机械电子工程学院，山东青岛 266590
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.05.025
  CLC：
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张建中,张广浩,胡化增等.3-UPS/S踝关节康复机构及运动分析[J].机械传动,2019,43(05):130-133.

Zhang Jianzhong,Zhang Guanghao,Hu Huazeng,et al.3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis[J].Journal of Mechanical Transmission,2019,43(05):130-133.
张建中,张广浩,胡化增等.3-UPS/S踝关节康复机构及运动分析[J].机械传动,2019,43(05):130-133. DOI： 10.16578/j.issn.1004.2539.2019.05.025.

Zhang Jianzhong,Zhang Guanghao,Hu Huazeng,et al.3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis[J].Journal of Mechanical Transmission,2019,43(05):130-133. DOI： 10.16578/j.issn.1004.2539.2019.05.025.

摘要

通过分析人体踝关节的结构特性，并针对现有踝关节康复机构的现状，提出一种3-UPS/S并联康复机构，该机构具有3自由度转动功能，可以分别完成踝关节的背伸/趾屈、内翻/外翻、内旋/外旋3种模式的训练。运用螺旋理论对其进行了自由度分析，采用D-H法建立了机构位置反解方程，利用Matlab编程计算出了位置反解理论值，并利用ADAMS进行了位置反解仿真分析，验证了D-H法位置反解的正确性。

Abstract

By analyzing the structural characteristics of the ankle joint， and aiming at the status of the existing ankle joint rehabilitation mechanism， a 3-UPS/S parallel rehabilitation mechanism is proposed. The mechanism has three degrees of freedom rotational function， which can complete the training of three modes of ankle joint extension/toe flexion， varus/valgus， internal rotation/external rotation respectively. Firstly， the degree of freedom is analyzed by using the spiral theory. The inverse solution equation of the mechanism position is established by using the D-H method. The theoretical value of the position inverse solution is calculated by using Matlab programming， and the position reverse solution simulation analysis is carried out by using ADAMS to verify the correctness of the inverse solution of the D-H method.

关键词

康复机构运动学踝关节

Keywords

Rehabilitation mechanismKinematicsAnkle joint

references

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刘兴芳，苗鸿宾，陈菁瑶，等. 并联3-SPS/S踝关节康复机构及运动分析［J］. 机械传动， 2018， 42（3）：9-12.

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