面向踝关节康复的自调心并联机构构型综合

doi:10.3901/JME.2025.05.153

摘要/Abstract

摘要： 针对现有的踝关节康复机构大多数是被动康复模式、一般适用于康复早期，并且康复中后期人机相容性差的问题，提出一种面向各种康复时期的自调心踝关节康复机构的构型综合新方法，并综合出一系列具有多康复模式的自调心踝关节康复机构的新构型。首先，基于人体踝关节的运动学，给出与人体踝关节运动等效的(3PS)_H分支。然后，在(3PS)_H分支基础上添加3R机构构造含人体踝关节的3R机构，将上述机构靠近定平台的分支与3TnR机构靠近动平台的运动副取交集，得到适合前期康复的踝关节康复机构。最后，重构上述机构的三个移动驱动使之变为三个被动的移动副，让踝关节的转动中心位置可以通过三平移机构实现自动补偿，得到适用于康复中后期的可自动调心的踝关节康复机构，并验证了康复机构自由度和自动调心功能的正确性，为后续具有多康复模式的自调心踝关节康复机器人的设计提供了构型基础。

关键词: 自调心, 并联机构, 踝关节康复, 多康复模式, 型综合

Abstract: Most of the existing ankle rehabilitation mechanisms are passive rehabilitation models, generally suitable for early rehabilitation. At the same time, existing rehabilitation mechanisms suffer from poor human-robot compatibility and are not suitable for the middle and late stages of rehabilitation. A new type synthesis method of ankle rehabilitation mechanisms with self-adjustable center for various rehabilitation stages is proposed. A series of new configurations of ankle rehabilitation mechanisms with multiple rehabilitation modes and a self-adjustable center are synthesized. First, based on the kinematics of the human ankle, the (3PS)_H branch equivalent to the human ankle motion is given. Then, the 3R mechanism containing human ankle joint is constructed by adding the 3R mechanism on the basis of the (3PS)_H branch. The intersection of the branch of the above mechanism close to the fixed platform and the kinematics pair of the 3TnR mechanism close to the moving platform is taken to obtain the ankle rehabilitation mechanism suitable for early rehabilitation. Finally, the three translation drives of the above mechanism are reconfigured to become three passive kinematics pairs, so that the center of rotation of the ankle can be automatically compensated by the three translation mechanisms. Ankle rehabilitation mechanisms with a self-adjustable center for middle and late stages of rehabilitation have been obtained. The correctness of the DOF and self-adjustment of the rehabilitation mechanism is verified. This provides a configuration basis for the design of an ankle rehabilitation robot with multiple rehabilitation modes and self-adjustable center in the future.

Key words: automatic adjustable center, parallel mechanism, ankle rehabilitation, multiple rehabilitation modes, type synthesis

中图分类号:

TH112

王森, 李兵, 彭福军. 面向踝关节康复的自调心并联机构构型综合[J]. 机械工程学报, 2025, 61(5): 153-164.

WANG Sen, LI Bing, PENG Fujun. Type Synthesis of Parallel Mechanisms with Automatically Adjustable Center for Ankle Rehabilitation[J]. Journal of Mechanical Engineering, 2025, 61(5): 153-164.

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