Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism

Tian Peiliang; Liu Zhifei; Wang Weibo; Ma Xiaobao; Lan Yuan

doi:10.16578/j.issn.1004.2539.2024.04.022

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Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism

Development·Application | 更新时间：2024-04-19

- Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism
- Journal of Mechanical Transmission Vol. 48, Issue 4, Pages: 162-171(2024)
- 作者机构：
  
  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.1004.2539.2024.04.022
  CLC：
- Published：15 April 2024，
  
  Received：17 December 2022，
  
  Revised：14 May 2023，
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田培良,刘智飞,王炜博等.一种基于3-UU并联机构的腕关节康复机器人研制[J].机械传动,2024,48(04):162-171.

Tian Peiliang,Liu Zhifei,Wang Weibo,et al.Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism[J].Journal of Mechanical Transmission,2024,48(04):162-171.
田培良,刘智飞,王炜博等.一种基于3-UU并联机构的腕关节康复机器人研制[J].机械传动,2024,48(04):162-171. DOI： 10.16578/j.issn.1004.2539.2024.04.022.

Tian Peiliang,Liu Zhifei,Wang Weibo,et al.Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism[J].Journal of Mechanical Transmission,2024,48(04):162-171. DOI： 10.16578/j.issn.1004.2539.2024.04.022.

摘要

在3-UU并联机构基础上研制腕关节康复机器人样机，辅助中风患者进行腕关节康复训练。回顾了3-UU机构演化过程和自由度，根据3-UU机构的约束关系和几何特性，采用球坐标法和滚动-俯仰-偏航（Roll-Pitch-Yaw，RPY）法分析机构逆运动学，得到机构平台和驱动的关系式；将研制的样机与经典的3-RRR腕关节康复机构进行对比，得出本机构不存在多解和奇异值等优点；对样机运动性能以及前臂两大肌群的肌电信号进行了测试。实验表明，该机构的最大横滚角度为

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=57324410&type=

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=57324407&type=

14.56266594

3.13266683

，俯仰角度为

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=57324426&type=

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=57324412&type=

14.56266594

3.13266683

，虚拟偏航角度为

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=57324436&type=

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=57324431&type=

18.20333290

3.04800010

，最高能产生950 mV的肌电信号。上述结果表明，所研制的样机能满足腕关节运动需求，对前臂肌群进行训练。

Abstract

Based on the 3-UU parallel mechanism

a prototype robot for wrist joint rehabilitation is developed to assist stroke patients in wrist joint rehabilitation training. Based on the constraint relation and geometric characteristics of the 3-UU mechanism

the inverse kinematics of 3-UU mechanism is analyzed by spherical coordinate method and roll-pitch-yaw (RPY) method， and the relation between the platform and the driver is obtained. Compared with the classic 3-RRR wrist joint rehabilitation mechanism

the developed prototype has no advantages such as multi-solution and singular value. The motion performance of the prototype and the electromyographic signals of the two major muscle groups in the forearm are measured. The experimental results show that the maximum roll angle is -90° to 90°

the pitch angle is -90° to 90°， and the virtual yaw angle is -180° to 180°. The maximum electromyogram (EMG) signal can be generated at 950 mV. The results show that the developed model can meet the requirements of the wrist motion and train the forearm muscle group.

关键词

腕关节训练并联机构逆运动学康复机器人

Keywords

Wrist joint trainingParallel mechanismInverse kinematicsRehabilitation robot

references

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KIM Y J，KIM J I，JANG W，et al.Quaternion joint：dexterous 3-DOF joint representing quaternion motion for high-speed safe interaction［C］//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems （IROS）.Madrid，Spain：IEEE，2018：935-942.

LIU F，HUANG H L，LI B，et al.Design and analysis of a cable-driven rigid-flexible coupling parallel mechanism with variable stiffness［J］.Mechanism and Machine Theory，2020，153：104030.

WANG M.Design and analysis of an adjustable wrist rehabilitation robot［D］.Ontario：University of Ontario Institute of Technology，2014：6-9.

YU J J，DONG X，PEI X，et al.Mobility and singularity analysis of a class of two degrees of freedom rotational parallel mechanism using a visual graphic approach［J］.Journal of Mechanisms Robotics，2012，4（4）：041006.

HUANG Z，LIU J F，ZENG D X，et al.A general methodology for mobility analysis of mechanisms based on constraint screw theory［J］.Science in China Series E：Technological Sciences，2009，52（5）：1337-1347.

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