Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

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外文摘要：The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical struc-ture of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the require-ments of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion require-ments of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.

外文关键词：

Ankle rehabilitationParallel mechanismKinematic analysisParameter optimization

作者：

Jianjun Zhang、Shuai Yang、Chenglei Liu、Xiaohui Wang、Shijie Guo

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作者单位：

School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China

Key Laboratory of Robot Perception and Human-Machine Fusion,Tianjin 300401,China

基金：

国家自然科学基金Science and Technology Program of Hebei Province of ChinaScience and Technology Program of Hebei Province of ChinaCentral Government Guides Basic Research Projects of Local Science and Technology Development Funds of China

项目编号：

5207514520281805ZE2020103001206Z1801G

出版年：

2024

DOI：

10.1186/s10033-024-01003-x

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)