Joint Angle Solution of Ankle Rehabilitation Trainer Based on Closed-Loop Vector Closure Method
Aiming at the complicated structure of parallel ankle joint rehabilitation robot,a 3R ankle joint rehabilitation trainer is designed.Based on the closed-loop vector closure method,the kinematic model of the ankle rehabilitation trainer was created,and the Angle of the drive motor of the ankle rehabilitation trainer was solved.According to the mechanism of rehabilitation training,the ankle rehabilitation training is classified.Finally,the sinusoidal function is used to replace the ankle Angle motion,and the ADAMS-MATLAB co-simulation method is used to verify the correctness of the kinematics model.
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