Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot

Chen Peng; Ligang Yao

doi:10.16578/j.issn.1004.2539.2021.01.009

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Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot

Design· Calculation | 更新时间：2022-11-10

- Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot
- Journal of Mechanical Transmission Vol. 45, Issue 1, Pages: 52-58(2021)
- 作者机构：
  
  1.福州职业技术学院机电工程系，福建福州 350108
  2.福州大学机械工程及自动化学院，福建福州 350116
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.01.009
  CLC：
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彭晨,姚立纲.摆幅可调型足部康复机器人的设计与运动学分析[J].机械传动,2021,45(01):52-58.

Peng Chen,Yao Ligang.Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot[J].Journal of Mechanical Transmission,2021,45(01):52-58.
彭晨,姚立纲.摆幅可调型足部康复机器人的设计与运动学分析[J].机械传动,2021,45(01):52-58. DOI： 10.16578/j.issn.1004.2539.2021.01.009.

Peng Chen,Yao Ligang.Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot[J].Journal of Mechanical Transmission,2021,45(01):52-58. DOI： 10.16578/j.issn.1004.2539.2021.01.009.

摘要

提出了一种摆幅可调型足部康复机器人。根据踝关节运动方式和足底穴位分布，设计足部康复机器人的整体结构，并且重点介绍了摆幅可调传动机构的运动原理。运用反转法进行传动比计算，采用坐标变换法对机构踏板的位姿进行运动学求解，再通过位置逆解析得到踏板姿态角的运动方程。利用SolidWorks软件对虚拟样机进行运动学仿真，将仿真数据与理论数据对比，验证了理论分析的准确性和机构设计的安全性。最后，对摆幅调节的关键参数进行了分析。

Abstract

An adjustable swing foot rehabilitation robot is proposed. According to the mode of ankle motion and the distribution of acupoint， the whole structure of foot rehabilitation robot is designed， and the motion principle of swing adjustable transmission mechanism is mainly introduced. The inverse method is used to calculate the transmission ratio， the coordinate transformation method is used to solve the kinematics solution of the pose of the pedal， and then the motion equation of the pedal attitude angle is obtained through the inverse solution analysis of the position. The kinematics simulation of virtual prototype is carried out by using SolidWorks software， and the comparison between the theoretical data and the simulation data of transmission ratio confirms the accuracy of theoretical analysis and safety of mechanism design. Finally， the key parameters of swing adjustment are analyzed.

关键词

踝关节康复运动学分析可调摆幅足底按摩

Keywords

Ankle rehabilitationKinematics analysisAdjustable swingFootplate massage

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