基于闭环矢量封闭法的踝关节康复训练器关节转角求解
Joint Angle Solution of Ankle Rehabilitation Trainer Based on Closed-Loop Vector Closure Method
张化平 1王鑫 1唐小强 1王闪闪1
作者信息
- 1. 兰州石化职业技术大学 机械工程学院,甘肃 兰州 730060
- 折叠
摘要
针对并联式踝关节康复机器人结构复杂的问题,设计了一款 3R踝关节康复训练器.基于闭环矢量封闭法创建了踝关节康复训练器运动学模型,完成了踝关节康复训练器驱动电机转角求解.根据康复训练机理,对踝关节康复训练进行了分类.最后,通过正弦函数近似替代踝关节转角运动规律,并借助ADAMS-MATLAB联合仿真方法,验证了运动学模型的正确性.
Abstract
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.
关键词
踝关节康复机器人/闭环矢量封闭法/电机转角/联合仿真Key words
ankle joint rehabilitation robot/closed-loop vector closure method/motor angle/co-simulation引用本文复制引用
出版年
2024
NETL
NSTL
万方数据