Kinematic Performance of 4-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

doi:10.3901/JME.2021.21.045

Abstract

Abstract: In the previous rehabilitation robot research, the proposed ankle models have distinctions with the human ankle bone structure. It leads to the unsatisfactory human-machine compatibility of ankle rehabilitation robots constructed based on the fitting onto the motion of these models. A compact 4-DOF generalized spherical parallel mechanism is proposed based on the motion fitting models U₁U₂. In order to prove the feasibility of the mechanism, its motion and constraint characteristics are analyzed based on the screw theory, and its motion consistency with the motion fitting model is discussed. The position and orientation kinematics model of the mechanism were established separately, which proved that the kinematics between the position and orientation is completely decoupled. By analyzing its Jacobian matrix and condition number, it is clarified that the mechanism has kinematic fully-isotropic properties in single direction movement, and has excellent dexterity and manipulability in the ankle working space, and no singularity. It is verified by data comparison that the mechanism has good kinematic characteristics and is suitable for ankle rehabilitation.

Key words: ankle rehabilitation, motion fitting model, generalized spherical parallel mechanism, kinematics analysis

CLC Number:

TH112

LIU Chenglei, ZHANG Jianjun, NIU Jianye, LIU Teng, QI Kaicheng, GUO Shijie. Kinematic Performance of 4-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation[J]. Journal of Mechanical Engineering, 2021, 57(21): 45-54.

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