Type Synthesis of Reconfigurable Parallel Mechanisms for Ankle Rehabilitation with Completely Decoupled Actuated Limb

doi:10.3901/JME.2022.19.045

Abstract

Abstract: Reconfigurable ankle rehabilitation parallel mechanisms with three rehabilitation motion modes are proposed in terms of the movement requirements of rehabilitation for ankle sprain in the anterior-middle-posterior periods within 6-12 weeks after surgery. First, according to the axis motion characteristics of tibiotalar joint and subtalar joint, the motion switching principle and double-point characteristic of ankle rehabilitation are investigated, and six LBAs (limbs of the bio-syncretic axis) are given to satisfy the DOF and axis motion characteristics of the ankle joint. Four kinds of unconstrained limbs are enumerated through the selected scheme of the configuration constrained limbs. Second, over-constrain design of six LBAs are carried out based on the screw theory to verify LBAs that meet the practical movement requirements. According to the relationship between the transmission force screw and the motion axes of the platform, a completely decoupling optimization method is proposed, and three unconstrained driving limbs and twelve of mechanism configurations are obtained, which made the mechanism completely decoupled in all three rehabilitation modes. Finally, the correctness of the three limbs of the mechanism and the completely decoupling is verified through ADAMS simulation. Reconfigurable ankle rehabilitation robot is adopted the corresponding rehabilitation modes according to the patient's rehabilitation conditions, with a wider application range, stronger pertinence, and simple control.

Key words: ankle rehabilitation, reconfigurable mechanism, type synthesis, over-constraint design, completely decoupling, limbs of the bio-syncretic axis

CLC Number:

TH112

WEI Jun, JIA Weihan, LIU Chenglei, ZHANG Jianjun, HUANG Haijing, GUO Shijie. Type Synthesis of Reconfigurable Parallel Mechanisms for Ankle Rehabilitation with Completely Decoupled Actuated Limb[J]. Journal of Mechanical Engineering, 2022, 58(19): 45-56.

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