Design and Inverse Kinematics Analysis of Wrist Parallel Rehabilitation Mechanism:A Rope Driven-based Method

doi:10.3901/JME.2022.05.57

Abstract

Abstract: To tackle the problem of small moving range, poor compliance and comfort level in human wrist joint rehabilitation mechanism, this paper proposes a novel cable-driven and compression spring supported flexible parallel wrist rehabilitation mechanism. The fixed platform and the moving platform of the mechanism are connected via three ropes and a compression spring,the spring is used to simulate the carpal and ligament complex to support and limit the movement of the moving platform corresponding to the metacarpal bone. The mobile platform serves to simulate the end of the metacarpal bone of the wrist joint, the static platform is used to simulate the end of the radius and the ulna. Then, the three ropes serve to simulate wrist muscles to realize the driving control of the parallel mechanism. Considering the axial displacement and flexibility of the spring, based on the finite rotation tensor method and the force and moment balance analysis method, construct the inverse kinematics mathematical model of the system, obtain a system of nonlinear equations jointly solved by kinematics and statics. Through the analysis of the mechanism model, the numerical solution of the length and tension of each rope under 0-75°is completed. Through simulation and experiment,the physiological movement space of human wrist and the effective working space of the mechanism are obtained, then the rationality of the mechanism and the correctness of the analysis method are verified. The proposed solution method has a positive effect on the design of rehabilitation robots and cable-driven parallel mechanisms.

Key words: wrist joint, cable-driven robot, flexible mechanism, parallel mechanism, cooperative solving, workspace

CLC Number:

TG156

ZHANG Bang-cheng, LIU Shuai, YU Jun-zhi, PANG Zai-xiang, ZHANG Xi-yu. Design and Inverse Kinematics Analysis of Wrist Parallel Rehabilitation Mechanism:A Rope Driven-based Method[J]. Journal of Mechanical Engineering, 2022, 58(5): 57-68.

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