机械科学与技术2025，Vol.44Issue(9)：1543-1548,6.DOI:10.13433/j.cnki.1003-8728.20230317
面向脚踝康复4-UCU/RRC并联机构的运动学分析及优化设计
Kinematic Analysis and Optimization Design of 4-UCU/RRC Parallel Mechanism for Ankle Rehabilitation
摘要
Abstract
Aiming at the ankle injury of stroke patients,an ankle rehabilitation mechanism with 3R1T athletic performance is proposed based on a 4-UCU/RRC parallel mechanism.The spiral theory is used to analyze its degrees of freedom,and the closed vector method is used to solve the position inverse solution.SolidWorks is used for modeling,and the kinematic simulation is introduced into Adams,and the simulation results are analyzed,all curves are smooth and there is no any breakpoints and mutation points,indicating that the ankle rehabilitation mechanism has strong safety and stability.Ansys is used to perform static simulation of the rehabilitation institution and optimize the design of the mechanism,so that the mechanism has strong endurance,and meets the rehabilitation needs of damaged ankle joints.关键词
4-UCU/RRC/康复机构/踝关节/运动学/静力学Key words
4-UCU/RRC/rehabilitation mechanism/ankle joint/kinematics/static分类
机械制造引用本文复制引用
李清,齐青华,任毅明..面向脚踝康复4-UCU/RRC并联机构的运动学分析及优化设计[J].机械科学与技术,2025,44(9):1543-1548,6.基金项目
山西省自然科学基金项目(201901D111132)与山西省高校科技成果转化培育项目(2020CG035) （201901D111132）
