Design and Kinematics Analysis of a 3-DOF Rigid Flexible Coupling Parallel Ankle Rehabilitation Mechanism

Zhiguang Ma; Kangkang Wang; Leile Zhang; Yan Song; Shaowei Jia

doi:10.16578/j.issn.1004.2539.2022.09.012

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Design and Kinematics Analysis of a 3-DOF Rigid Flexible Coupling Parallel Ankle Rehabilitation Mechanism

Design· Calculation | 更新时间：2022-09-26

- Design and Kinematics Analysis of a 3-DOF Rigid Flexible Coupling Parallel Ankle Rehabilitation Mechanism
- Journal of Mechanical Transmission Vol. 46, Issue 9, Pages: 92-96(2022)
- 作者机构：
  
  1.河南开放大学机电工程与智能制造学院，河南郑州 450008
  2.郑州机械研究所有限公司智能装备事业部，河南郑州 450001
  3.北京航空航天大学生物医学与工程学院，北京 100191
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.09.012
  CLC：
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马志广,王康康,张磊乐等.3自由度刚柔耦合并联踝关节康复机构设计及运动学分析[J].机械传动,2022,46(09):92-96.

Ma Zhiguang,Wang Kangkang,Zhang Leile,et al.Design and Kinematics Analysis of a 3-DOF Rigid Flexible Coupling Parallel Ankle Rehabilitation Mechanism[J].Journal of Mechanical Transmission,2022,46(09):92-96.
马志广,王康康,张磊乐等.3自由度刚柔耦合并联踝关节康复机构设计及运动学分析[J].机械传动,2022,46(09):92-96. DOI： 10.16578/j.issn.1004.2539.2022.09.012.

Ma Zhiguang,Wang Kangkang,Zhang Leile,et al.Design and Kinematics Analysis of a 3-DOF Rigid Flexible Coupling Parallel Ankle Rehabilitation Mechanism[J].Journal of Mechanical Transmission,2022,46(09):92-96. DOI： 10.16578/j.issn.1004.2539.2022.09.012.

摘要

在研究踝关节康复运动机理的基础上，提出了一种3自由度刚柔耦合并联踝关节康复机构，以解决现有康复机构存在的柔顺性差、惯性冲击大等问题。求解了该并联康复机构的运动学正反解，验证了计算结果的正确性；进一步求解了机构的雅可比矩阵，分析了机构的绳索速度变化与动平台速度变化的关系，并对机构的位置变化及速度变化进行了仿真分析。结果表明，设计的机构运动平稳，可以满足踝关节康复训练的要求，也为后续控制系统的研发提供了理论基础。

Abstract

Based on the study of the ankle rehabilitation mechanism， a 3-DOF rigid flexible coupling parallel ankle rehabilitation mechanism is proposed， which solves the problems of poor compliance and large inertial impact existing in the present rehabilitation institutions. The forward and inverse kinematics solutions of the parallel rehabilitation mechanism are solved， and the correctness of the calculation results is verified. Furthermore， the Jacobian matrix of the mechanism is solved， the relationship between the rope speed change of the mechanism and the speed change of the moving platform is analyzed， and the position change and speed change of the mechanism are simulated and analyzed. The results show that the designed mechanism moves smoothly， can meet the requirements of ankle rehabilitation training， and also provides a theoretical basis for the research and development of the follow-up control system.

关键词

踝关节康复并联机构运动学绳传动

Keywords

Ankle rehabilitationParallel mechanismKinematicsRope driven

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