• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2020, Vol. 56 ›› Issue (21): 70-78.doi: 10.3901/JME.2020.21.070

• 机构学及机器人 • 上一篇    下一篇

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一种三自由度并联踝关节康复机构

陈子明1,2, 尹涛1,2, 潘泓2, 赵琛1,2, 闫升亲2, 李艳文1,2, 黄真1,2   

  1. 1. 燕山大学河北省并联机器人与机电系统实验室 秦皇岛 066004;
    2. 燕山大学机械工程学院 秦皇岛 066004
  • 收稿日期:2019-12-02 修回日期:2020-03-13 出版日期:2020-11-05 发布日期:2020-12-19
  • 作者简介:陈子明,男,1984年出生,博士,副教授。主要研究方向为空间少自由度并联机构的设计及分析。E-mail:chenzm@ysu.edu.cn 尹涛,男,1994年出生,硕士研究生。主要研究方向为康复机器人。E-mail:yintao@stumail.ysu.edu.cn;李艳文(通信作者),女,1966年出生,博士,教授。主要研究方向为机器人设计及机器视觉。E-mail:ywl@ysu.edu.cn
  • 基金资助:
    国家自然科学基金资助项目(51775474)。

3-DOF Parallel Ankle Rehabilitation Mechanism

CHEN Ziming1,2, YIN Tao1,2, PAN Hong2, ZHAO Chen1,2, YAN Shengqin2, LI Yanwen1,2, HUANG Zhen1,2   

  1. 1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004;
    2. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004
  • Received:2019-12-02 Revised:2020-03-13 Online:2020-11-05 Published:2020-12-19

摘要: 在分析现有踝关节康复机构的基础上,提出一种基于3-UPU并联机构的新型踝关节康复机构,该机构具有3个自由度,能够实现踝关节的旋前/旋后、内翻/外翻运动,并且该机构的转动轴线可实现高度和角度方向的调节,从而使机构转动轴线与人体踝关节运动轴线更好的吻合,给患者带来更好的康复效果。求解了机构的自由度,运动学反解,并根据踝关节康复要求对机构尺寸进行确定,进一步求解了机构的工作空间,对机构的运动学进行了仿真验证和样机运动试验。

关键词: 踝关节康复, 并联机构, 运动学分析, 工作空间

Abstract: Based on the analysis of existing ankle rehabilitation institutions, a new ankle rehabilitation mechanism based on 3-UPU parallel mechanism is proposed. The mechanism has three degrees of freedom, can achieve ankle pronation/supination, varus/valgus movement. And the axis of rotation of the mechanism can adjustment in height and angular direction. Therefore, the rotation axis of the mechanism can be better matched with the motion axis of the human ankle joint and bring better rehabilitation effect to the patients. The inverse kinematics and DOF of the mechanism are solved. According to the ankle rehabilitative requirements, the size of the mechanism is determined, and the workspace of the mechanism is further solved. Finally, the kinematics of the mechanism is simulated and verified by the prototype.

Key words: ankle rehabilitation, parallel mechanism, kinematic analysis, workspace

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