An ankle rehabilitation robot based on 3-RRS spherical parallel mechanism
An ankle rehabilitation robot based on 3-RRS spherical parallel mechanism
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DOI：
10.1177/1687814017718112
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发表时间：
2017-08-03
影响因子：
2.1
通讯作者：
Bai, Shaoping
中科院分区：
文献类型：
--
作者：
Du, Yuting;Li, Ruiqin;Bai, Shaoping
提出了一种用于踝关节康复的新型3-RRS球面并联机构的设计模型。建立了3-RRS球面并联机构的运动学模型。利用螺旋理论计算了3-RRS球面并联机构的自由度。求解了3-RRS球面并联机构的运动学逆解。获得了3-RRS球面并联机构的八组逆解。提出了一种适合于电机位置控制的位置正解方法。该踝关节康复机器人可广泛应用于临床治疗，也可用于家庭、酒店、健身中心进行踝关节肌肉放松。
This article presents the design modeling of a novel 3-RRS spherical parallel mechanism for ankle rehabilitation applications. The kinematics of the 3-RRS spherical parallel mechanism is established. The degree of freedom of 3-RRS spherical parallel mechanism is calculated using screw theory. The inverse kinematics of 3-RRS spherical parallel mechanism is solved. Eight groups of inverse solutions of 3-RRS spherical parallel mechanism are obtained. A method for forward position analysis is developed with variation and iteration approaches, which is suitable for motor position control. The ankle rehabilitation robot can be widely used in clinical treatment and can also be used at home, hotels, and fitness centers for ankle muscle relaxation.