Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism

Zengyu Jia; Ruiqin Li; Xiang Li

doi:10.16578/j.issn.1004.2539.2022.02.005

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Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism

Theory·Reserach | 更新时间：2022-09-25

- Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism
- Journal of Mechanical Transmission Vol. 46, Issue 2, Pages: 28-33(2022)
- 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.1004.2539.2022.02.005
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贾增钰,李瑞琴,李庠.空间8R髋关节康复并联机构的运动学分析[J].机械传动,2022,46(02):28-33.

Jia Zengyu,Li Ruiqin,Li Xiang.Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism[J].Journal of Mechanical Transmission,2022,46(02):28-33.
贾增钰,李瑞琴,李庠.空间8R髋关节康复并联机构的运动学分析[J].机械传动,2022,46(02):28-33. DOI： 10.16578/j.issn.1004.2539.2022.02.005.

Jia Zengyu,Li Ruiqin,Li Xiang.Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism[J].Journal of Mechanical Transmission,2022,46(02):28-33. DOI： 10.16578/j.issn.1004.2539.2022.02.005.

摘要

提出了一种二自由度空间8R并联机构用于人体髋关节康复。建立空间8R并联机构模型，运用螺旋理论对机构的初始位形及一般位形进行分析；采用D-H法建立空间8R并联机构的几何模型和运动学方程，得出了机构的运动学方程；运用Adams软件和理论计算共同验证了空间8R并联机构运动学方程的正确性，得出了机构在不同运动下，一个周期内的角位移变化规律。此空间8R并联机构性能稳定，能够进行平稳运动，可以有效提高髋关节康复效果。

Abstract

A 2-DOF spatial 8R parallel mechanism is proposed for hip joint rehabilitation. The model of spatial 8R parallel mechanism is established， and the initial configuration and general configuration of the mechanism are analyzed by using screw theory. The geometric model and kinematics equations of the spatial 8R parallel mechanism are established by D-H method， and the kinematics equations of the mechanism are obtained. The correctness of the kinematics equation of the spatial 8R parallel mechanism is verified by Adams software and theoretical calculation， and the variation law of the angular displacement of the mechanism in one period under different motions is obtained. This spatial 8R parallel mechanism has stable performance and can carry out smooth movement， which can effectively improve the rehabilitation effect of hip joint.

关键词

8R并联机构髋关节螺旋理论D-H法运动学

Keywords

8R parallel mechanismHip jointScrew theoryD-H methodKinematics

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