3-DOF Parallel Ankle Rehabilitation Mechanism

被引：0
|
作者：
Chen Z. [1 ,2 ]
Yin T. [1 ,2 ]
Pan H. [2 ]
Zhao C. [1 ,2 ]
Yan S. [1 ,2 ]
Li Y. [1 ,2 ]
Huang Z. [1 ,2 ]
机构：
[1] Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao
[2] School of Mechanical Engineering, Yanshan University, Qinhuangdao
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2020年 / 56卷 / 21期
关键词：
Ankle rehabilitation; Kinematic analysis; Parallel mechanism; Workspace;
D O I：
10.3901/JME.2020.21.070
中图分类号：
学科分类号：
摘要：
Based on the analysis of existing ankle rehabilitation institutions, a new ankle rehabilitation mechanism based on 3-UPU parallel mechanism is proposed. The mechanism has three degrees of freedom, can achieve ankle pronation/supination, varus/valgus movement. And the axis of rotation of the mechanism can adjustment in height and angular direction. Therefore, the rotation axis of the mechanism can be better matched with the motion axis of the human ankle joint and bring better rehabilitation effect to the patients. The inverse kinematics and DOF of the mechanism are solved. According to the ankle rehabilitative requirements, the size of the mechanism is determined, and the workspace of the mechanism is further solved. Finally, the kinematics of the mechanism is simulated and verified by the prototype. © 2020 Journal of Mechanical Engineering.
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页码：70 / 78
页数：8
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