Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom

扫码查看

原文链接

万方数据
维普

外文摘要：The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the patient.This study investi-gates type synthesis of a parallel self-alignment ankle rehabilitation robot(PSAARR)based on the kinematic charac-teristics of ankle joint rotation center drift from the perspective of introducing"suitable passive degrees of freedom(DOF)"with a suitable number and form.First,the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain(HRCC)formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of"decoupled"and"less limb".Second,the relationship between the self-alignment principle and actuation wrenches(twists)of PSAARR was analyzed with the velocity Jacobian matrix as a"bridge".Subsequently,the type synthesis conditions of PSAARR were proposed.Third,a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted.Finally,an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR.In this study,93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis,which provides a theoretical basis for the design of such an ARR.

外文关键词：

Ankle rehabilitation robotSelf-alignmentParallel mechanismType synthesisScrew theory

作者：

Ya Liu、Wenjuan Lu、Dabao Fan、Weijian Tan、Bo Hu、Daxing Zeng

展开 >

作者单位：

School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China

School of Mechanical Engineering,Dongguan University of Technology,Dongguan 523808,China

Dongguan Engineering Technology Research Center for Parallel Robot,Dongguan 523808,China

The DGUT Innovation Center of Robotics and Intelligent Equipment,Dongguan 523808,China

展开 >

基金：

Key Scientific Research Platforms and Projects of Guangdong Regular Institutions of Higher Education of China广东省自然科学基金Guangdong Provincial Scientific Research Capacity Improvement Project of Key Developing Disciplines of China国家自然科学基金

项目编号：

2022KCXTD0332023A15150121032021ZDJS08452105009

出版年：

2024

DOI：

10.1186/s10033-024-00996-9

中国机械工程学报

中国机械工程学会

中国机械工程学报

CSTPCD

影响因子：0.765

ISSN：1000-9345

年,卷(期)：2024.37(1)