轻工机械2025，Vol.43Issue(5)：1-10,17,11.DOI:10.3969/j.issn.1005-2895.2025.05.001
完全解耦的3转动脚踝康复并联机构
Fully Decoupled 3R Medical Ankle Rehabilitation Parallel Mechanism
闫刚 1刘霞 1刘伟 1王琰 1梁俊侨1
作者信息
- 1. 西安工程大学机电工程学院,陕西 西安 710048
- 折叠
摘要
Abstract
In order to accelerate the rehabilitation healing of the ankle joint,a new fully decoupled 3R ankle rehabilitation parallel mechanism was designed to realize the full coupling under the output of 3 rotational degrees of freedom.Based on the spherical 3R characteristics and the kinematic analysis of the mechanism,the spiral theory and modified K-G formula were adopted to verify the degrees of freedom of the new mechanism.The kinematic equations were established to analyze and solve the forward and inverse kinematics solutions.At the same time,the velocity solution analysis was carried out on the moving platform of the mechanism,and the constant Jacobian matrix was obtained.Finally,ADAMS software and MATLAB software were used to simulate and analyze the model of the mechanism.The results show that under constant Jacobian matrix conditions,the motion control capability and efficiency of the mechanism have been significantly improved.The simulation and theoretical analysis have verified the rationality of the 3R ankle rehabilitation parallel mechanism design.关键词
脚踝康复机构/并联机构/3转动自由度/螺旋理论/雅可比矩阵/ADAMS软件/MATLAB软件Key words
ankle rehabilitation mechanism/parallel mechanism/3 rotational degrees/spiral theory/Jacobian matrix/ADAMS/MATLAB分类
机械制造引用本文复制引用
闫刚,刘霞,刘伟,王琰,梁俊侨..完全解耦的3转动脚踝康复并联机构[J].轻工机械,2025,43(5):1-10,17,11.
