自动化学报2016，Vol.42Issue(12)：1794-1807,14.DOI:10.16383/j.aas.2016.c160144
基于3-UPS/RRR的并联踝关节康复机构及其性能分析
A Parallel Ankle Rehabilitation Mechanism and Its Performance Analysis Based on 3-UPS/RRR
摘要
Abstract
Based on the physiological anatomical structure and movement characteristics analysis of human ankle joint, a 3 degree of freedom (DoF) 3-UPS/RRR ankle rehabilitation parallel mechanism is presented. Its three active branched chain inclination arrangement avoids the singular configuration of the mechanism and meets the required ankle reha-bilitation workspaces. By means of constraint branches and the moving platform, the mechanism center of rotations matches the patient0s ankle center of rotations. Inverse kinematics is solved analytically velocity Jacobian matrix and statics Jacobian matrix are established, and mechanism workspace is coped with. Moreover, in view of Jacobian matrix, kinematics performance and statics performance of the mechanism are analyzed and simulated. The result shows that the mechanism is of favorable operability, flexibility, and stiffness characteristics, and its torque transmission is within the specified workspace. Lastly, inverse dynamics equations of the mechanism are modeled by Newton-Euler formulation;the relationship among driving forces, constraint forces and motion parameters are obtained. A computational example is provided.关键词
踝关节康复/并联机构/约束支链/力矩传递性能/牛顿-欧拉法Key words
Ankle rehabilitation/parallel mechanism/constrained branched chain/torque transmission performance/Newton-Euler引用本文复制引用
李剑锋,徐成辉,陶春静,季润,李世才,张兆晶..基于3-UPS/RRR的并联踝关节康复机构及其性能分析[J].自动化学报,2016,42(12):1794-1807,14.基金项目
国家自然科学基金(61273342),北京市自然科学基金(3132005,3113026)资助Supported by National Natural Science Foundation of China (61273342), Natural Science Foundation of Beijing (3132005,3113026) （61273342）
