Synthesis of Generalized Spherical Parallel Manipulations for Ankle Rehabilitation

doi:10.3901/JME.2020.19.079

Abstract

Abstract: In view of the poor human-machine compatibility of existing ankle rehabilitation robots, which makes it difficult to fully fit the complex motion of the ankle joint, a series of series equivalent fitting models with a higher degree of matching with the actual bone structure of the ankle joint are proposed. In order to meet the functional requirements of this type of equivalent fitting model on the mechanism ontology of rehabilitation robot, a configuration synthesis method of generalized spherical parallel mechanism with series equivalent fitting model is presented. First, the basic components and kinematic pairs of the generalized spherical mechanism are enumerated, and the generalized spherical limb is constructed accordingly. Then, based on the spiral theory, the constraint performance of the single limb and limb combination on the moving platform is analyzed. The combination conditions and principles of limbs are given, the role of different limbs in the mechanism is clarified, and two types of general spherical basic limbs, position limb and orientation limb, are summarized accordingly. Finally, based on the constraint characteristics of the basic limb and the combination conditions, a series of generalized spherical parallel mechanisms suitable for the study of the ankle rehabilitation robot ontology are synthesized. The screw theory proves that the number and nature of degrees of freedom of these of mechanism and the equivalent fitting model of the ankle are consistent, which provides a theoretical basis for the design of such rehabilitation robots.

Key words: ankle rehabilitation robot, parallel mechanism, generalized spherical surface mechanism, type synthesis method

CLC Number:

TH112

LIU Chenglei, ZHANG Jianjun, QI Kaicheng, NIU Jianye, LI Weimin, GUO Shijie. Synthesis of Generalized Spherical Parallel Manipulations for Ankle Rehabilitation[J]. Journal of Mechanical Engineering, 2020, 56(19): 79-91.

References

[1] BOIAN R F,BOUZIT M,BURDEA G C,et al. Dual Stewart platform mobility simulator[J]. Conf. Proc. IEEE Eng. Med. Biol. Soc.,2004,2(7):4848-4851.
[2] DAI J S,ZHAO T S,NESTER C. Sprained ankle physiotherapy based mechanism synthesis and stiffness analysis of a robotic rehabilitation device[J]. Autonomous Robots,2004,16(2):207-218.
[3] 于海波,赵铁石,李仕华,等. 空间3-SPS/S对顶双锥机构的运动学分析[J]. 机械设计,2017,24(2):11-14.|YU Haibo,ZHAO Tieshi,LI Shihua,et al. Kinematics analysis on the spatial 3-SPS/S opposing vertexes double pyramid mechanism[J]. Journal of Machine Design,2017,24(2):11-14.
[4] LIU G Q,GAO J L,YUE H,et al. Design and kinematics simulation of parallel robots for ankle rehabilitation[C]//IEEE International Conference on Mechatronics and Automation. Luoyang,Henan,China:IEEE,2006:1109-1113.
[5] 张小俊,刘更谦,张明路. 一种踝关节康复机器人的控制系统设计[J]. 微计算机信息,2009,25(8):259-260,284. ZHANG Xiaojun,LIU Gengqian,ZHANG Minglu. Design of the control system of an ankle rehabilitation robot[J]. Microcomputer Information,2009,25(8):259-260,284.
[6] SAGLIA J A,TSAGARAKIS N G,DAI J S,et al. A high-performance redundantly actuated parallel mechanism for ankle rehabilitation[J]. International Journal of Robotics Research,2009,28(9):1216-1227.
[7] SAGLIA J A,TSAGARAKIS N G,DAI J S,et al. Control strategies for patient-assisted training using the ankle rehabilitation robot (ARBOT)[J]. IEEE-ASME Transactions on Mechatronics,2013,18(6):1799-1808.
[8] MALOSIO M,NEGRI S P,PEDROCCHI N,et al. A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation[C]//Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Milan,Italy:IEEE Engineering in Medicine and Biology Society,2012:3356-3359.
[9] 边辉,刘艳辉,梁志成,等. 并联2-RRR/UPRR踝关节康复机器人机构及其运动学[J]. 机器人,2010,32(1):6-12. BIAN Hui,LIU Yanhui,LIANG Zhicheng,et al. A novel 2-RRR/UPRR robot mechanism for ankle rehabilitation and its kinematics[J]. Robot,2010,32(1):6-12.
[10] 李剑锋,张凯,张雷雨,等. 并联踝康复机器人的设计与运动性能评价[J]. 机械工程学报,2019,55(9):29-39. LI Jianfeng,ZHANG Kai,ZHANG Leiyu,et al. Design and kinematic performance evaluation of parallel ankle rehabilitation robot[J]. Journal of Mechanical Engin-eering,2019,55(9):29-39.
[11] HUANG Z,LI Q C. General methodology for type synthesis of lower-mobility symmetrical parallel mani-pulators and several novel manipulators[J]. International Journal of Robotics Research,2002,21(2):131-146.
[12] HERVE J M. The lie group of rigid body displacements,a fundamental tool for mechanism design[J]. Mechanism and Machine Theory,1999,34(5):719-730.
[13] LU Y,WANG Y,DING L. Type synthesis of four-degree-of-freedom parallel mechanisms using valid arrays and topological graphs with digits[J]. Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2014,228(16):3039-3053.
[14] HUANG Z,LI Q C. Type synthesis of symmetrical lower mobility parallel mechanisms using the constraint-synthesis method[J]. Int. J. Rob. Res.,2003,22(1):59-82.
[15] KONG X W,GOSSELIN C M. Type synthesis of 3T1R 4-DOF parallel manipulators based on screw theory[J]. IEEE Transactions on Robotics and Automation,2004,20(2):181-190.
[16] KONG X,GOSSELIN C M,RICHARD P L. Type synthesis of parallel mechanisms with multiple operation modes[J]. Journal of Mechanical Design,2007,129(6):595-601.
[17] FANG Y F,TSAI L W. Structure synthesis of a class of 4-degree of freedom and 5-degree of freedom parallel manipulators with identical limb structures[J]. Interna-tional Journal of Robotics Research,2002,21(9):799-810.
[18] LI Q C,HERVE J M. Parallel mechanisms with bifurcation of schoenflies motion[J]. IEEE Transactions on Robotics,2009,25(1):158-164.
[19] GAO F,LI W M,ZHAO X C,et al. New kinematic structures for 2-,3-,4-,and 5-dof parallel manipulator designs[J]. Mechanism and Machine Theory,2002,37(11):1395-1411.
[20] LI Q C,HERVE J M,HUANG P C. Type synthesis of a special family of remote center-of-motion parallel mani-pulators with fixed linear actuators for minimally invasive surgery[J]. Journal of Mechanisms and Robotics,2017,9(3):031012.
[21] 宗光华,裴旭,于靖军,等. 双平行四杆型远程运动中心机构的设计[J]. 机械工程学报,2007,43(12):103-108. ZONG Guanghua,PEI Xu,YU Jingjun,et al. Design of double parallelogram remote-center-of-motion mechanisms[J]. Journal of Mechanical Engineering,2007,43(12):103-108.
[22] 裴旭,于靖军,毕树生,等. 一维远程运动中心机构的型综合[J]. 机械工程学报,2009,45(2):144-148. PEI Xu,YU Jingjun,BI Shusheng,et al. Type synthesis for one-dimensional remote-center-of-motion mechanisms[J]. Journal of Mechanical Engineering,2009,45(2):144-148.
[23] WU K,YU J J,ZONG G H,et al. A family of rotational parallel manipulators with equal-diameter spherical pure rotation[J]. Journal of Mechanisms and Robotics,2013,6(1):011008.
[24] DONG X,YU J J,CHEN B,et al. Geometric approach for kinematic analysis of a class of 2-DOF rotational parallel manipulators[J]. Chinese Journal of Mechanical Engineering,2012,25(2):241-247.
[25] 陈斌,宗光华,于靖军,等. 一种2-DOF类球面并联转台的动力学建模及分析[J]. 机械工程学报,2013,49(13):24-31. CHEN Bin,ZONG Guanghua,YU Jingjun,et al. Dynamic modeling and analysis of 2-DOF quasi-sphere parallel platform[J]. Journal of Mechanical Engineering,2013,49(13):24-31.
[26] XIE F G,LI T,LIU X J. Type synthesis of 4-DOF parallel kinematic mechanisms based on Grassmann line geometry and atlas method[J]. Chinese Journal of Mechanical Engineering,2013,26(6):1073-1081.
[27] KONG X,GOSSELIN C M. Type synthesis of 3-DOF spherical parallel manipulators based on screw theory[J]. Journal of Mechanical Design,2004,126(1):101-108.
[28] HUANG Z,CHEN Ziming,Liu Jingfang,et al. A 3DOF rotational parallel manipulator without intersecting axes[J]. Journal of Mechanisms and Robotics,2011,3(2):021014.
[29] 陈子明,黄坤,张扬. 一种无汇交轴线对称三转动并联机构的运动分析[J]. 中国机械工程,2016,27(9):1215-1222. CHEN Ziming,HUANG Kun,ZHANG Yang. Kine-matics analysis of a 3-DOF symmetrical rotational parallel mechanism without intersecting axes[J]. China Mechanical Engineering,2016,27(9):1215-1222.
[30] 陈子明,陈谊超,杨凤霞,等. 两种三自由度并联角台机构的转动空间分析[J]. 机械工程学报,2014,50(5):48-56. CHEN Ziming,CHEN Yichao,YANG Fengxia,et al. Rotation workspace analysis of two 3-DOF cubic parallel mechanisms[J]. Journal of Mechanical Engineering,2014,50(5):48-56.
[31] DUL J,JOHNSON G E. A kinematic model of the human ankle[J]. Journal of Biomedical Engineering,1985,7(2):137-143.