Configuration and kinematics analysis of reconfigurable ankle rehabilitation parallel robot
Currently,the ankle rehabilitation parallel robot which suffers high degree in coupling and single mode of rehabili-tation fails to satisfy the patients'need of active rehabilitation.In this article,proceeding from the anatomical mechanism of ankle motion,firstly,the patients'need of ankle rehabilitation is mapped into the Plücker coordinate system,in order to identify the motion screw which satisfies the patients'need of active rehabilitation.Secondly,the reconfigurable ankle rehabilitation is de-signed and configurated.Meanwhile,according to the screw theory,it is verified that the mechanism's DOFs are consistent with the required motion screw.Next,the D-H method is used to calculate the mechanism's forward and inverse kinematic solutions.Finally,efforts are made to solve the mechanism's Jacobian matrix and analyze its singular configuration.The results show that this mechanism without any singular configuration in the workspace of rehabilitation has desirable kinematic performance.
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