Design and Kinematics Analysis of the R&amp; (2-SPU+PRR) Hybrid Mechanism for Ankle Rehabilitation

Wang Zhihao; Li Ruiqin; Fan Wenlong; Wang Chunzhen

doi:10.16578/j.issn.1004.2539.2023.04.012

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Design and Kinematics Analysis of the R& (2-SPU+PRR) Hybrid Mechanism for Ankle Rehabilitation

Design· Calculation | 更新时间：2023-05-04

- Design and Kinematics Analysis of the R& (2-SPU+PRR) Hybrid Mechanism for Ankle Rehabilitation
- Journal of Mechanical Transmission Vol. 47, Issue 4, Pages: 79-83(2023)
- 作者机构：
  
  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.1004.2539.2023.04.012
  CLC：
- Published：15 April 2023，
  
  Received：19 May 2022，
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王志浩,李瑞琴,樊文龙等.面向踝关节康复混联R&（2-SPU+PRR）机构的设计及运动学分析[J].机械传动,2023,47(04):79-83.

Wang Zhihao,Li Ruiqin,Fan Wenlong,et al.Design and Kinematics Analysis of the R& (2-SPU+PRR) Hybrid Mechanism for Ankle Rehabilitation[J].Journal of Mechanical Transmission,2023,47(04):79-83.
王志浩,李瑞琴,樊文龙等.面向踝关节康复混联R&（2-SPU+PRR）机构的设计及运动学分析[J].机械传动,2023,47(04):79-83. DOI： 10.16578/j.issn.1004.2539.2023.04.012.

Wang Zhihao,Li Ruiqin,Fan Wenlong,et al.Design and Kinematics Analysis of the R& (2-SPU+PRR) Hybrid Mechanism for Ankle Rehabilitation[J].Journal of Mechanical Transmission,2023,47(04):79-83. DOI： 10.16578/j.issn.1004.2539.2023.04.012.

摘要

针对脑卒中患者的踝关节康复及训练，提出一种具有3R1T运动性能的脚踝康复机构。运用螺旋理论分析自由度，利用封闭矢量法求解位置逆解，运用Adams对混联机构进行了运动学分析；并计算了该机构在背伸、趾屈运动时最大转动角度误差值。结果表明，在限位装置的限制下，该机构可在踝关节安全运动范围之内完成患者所需康复运动及竖直方向的关节牵引运动。

Abstract

Aiming at the ankle rehabilitation and training of stroke patients

an ankle rehabilitation mechanism with 3R1T sports performance is proposed. The screw theory is used to analyze the degree of freedom

the closed vector method is used to solve the inverse position solution

and Adams is used to simulate the kinematics of the hybrid mechanism. The maximum rotation angle error of the mechanism during dorsiflexion and toe flexion is calculated. The results show that under the displacement-restriction device

the mechanism can complete the rehabilitation movement and vertical joint traction movement required by patients within the safe range of ankle movement.

关键词

康复机构踝关节混联机构运动学限位装置

Keywords

Rehabilitation mechanismAnkle jointHybrid mechanismKinematicsDisplacement-restriction device

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⁰

Design and Kinematics Analysis of the R& (2-SPU+PRR) Hybrid Mechanism for Ankle Rehabilitation

DOI：10.16578/j.issn.1004.2539.2023.04.012

摘要

Abstract

关键词

Keywords

references