Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism

Shuaixu Ji; Yongguo Liang; Huimin Hao; Li'na Li; Jiahai Huang

doi:10.16578/j.issn.1004.2539.2021.10.025

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Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism

Development·Application | 更新时间：2022-11-10

- Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism
- Journal of Mechanical Transmission Vol. 45, Issue 10, Pages: 157-163(2021)
- 作者机构：
  
  1.太原理工大学机械与运载工程学院，山西太原 030024
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.10.025
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姬帅旭,梁永国,郝惠敏等.基于共轴球面并联3RRR机构的手腕康复装置研制[J].机械传动,2021,45(10):157-163.

Ji Shuaixu,Liang Yongguo,Hao Huimin,et al.Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism[J].Journal of Mechanical Transmission,2021,45(10):157-163.
姬帅旭,梁永国,郝惠敏等.基于共轴球面并联3RRR机构的手腕康复装置研制[J].机械传动,2021,45(10):157-163. DOI： 10.16578/j.issn.1004.2539.2021.10.025.

Ji Shuaixu,Liang Yongguo,Hao Huimin,et al.Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism[J].Journal of Mechanical Transmission,2021,45(10):157-163. DOI： 10.16578/j.issn.1004.2539.2021.10.025.

摘要

针对中风患者腕部运动功能障碍及康复训练问题，提出了一种基于共轴球面并联3RRR机构的手腕康复装置。该装置由3个电机驱动，末端执行机构能够实现球面运动，以模拟手腕3自由度复合运动，实现手腕康复训练。为了达到紧凑性设计的目的，采用了三轴共轴球面并联机构和同步带传动的设计方案。在此基础上，建立手腕康复装置运动学数学模型，获得了电机输入角度与末端执行机构输出位姿之间的关系；并确定康复装置的工作空间：绕,X,轴旋转最大角度为32°，绕,Y,轴旋转最大角度为37°，绕,Z,轴全周旋转。最后，加工出实验样机进行实验验证。结果表明，该装置运转平稳，工作空间内不存在卡死现象。

Abstract

Aiming at the wrist movement dysfunction and rehabilitation training problems of stroke patients，a wrist rehabilitation device based on a coaxial spherical parallel 3RRR mechanism is proposed. The device is driven by three motors，and the end effector can realize spherical motion to simulate the three-degree-of-freedom compound motion of the wrist and realize wrist rehabilitation training. In order to achieve the purpose of compact design，a design scheme of three-axis coaxial spherical parallel mechanism and synchronous belt transmission is adopted. On this basis，the inverse kinematics mathematical model of the wrist rehabilitation device is established，and the relationship between the motor input angle and the output pose of the robot end is obtained，and the robot working space is determined，the maximum angle of rotation around the ,X, axis is 32°，the maximum angle of rotation around the ,Y, axis is 37°，and the full rotation around the ,Z, axis. Finally，an experimental prototype is processed for experimental verification. The experimental results show that the device runs smoothly and there is no jamming in the working space.

关键词

手腕康复装置结构设计运动学分析

Keywords

Wrist rehabilitation deviceStructural designKinematics analysis

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