Kinematic Optimization of a Redundantly Actuated 3-DOF Parallel Mechanism for Lower-Limb Rehabilitation

被引：0
|
作者：
Liu H. [1 ]
Xiong K. [1 ]
Jia X. [1 ]
Xiang Z. [1 ]
机构：
[1] Key Laboratory of Mechanism Theory and Equipment Design of State Ministry of Education, Tianjin University, Tianjin
来源：
Liu, Haitao (liuht@tju.edu.cn) | 2018年 / Tianjin University卷 / 51期
基金：
中国国家自然科学基金;
关键词：
Conceptual design; Dimensional synthesis; Lower-limb rehabilitation; Parallel mechanisms;
D O I：
10.11784/tdxbz201706060
中图分类号：
学科分类号：
摘要：
The conceptual design and kinematic optimization of a redundantly actuated three degrees of freedom (DOF)parallel mechanism for lower-limb rehabilitation were studied in this paper.First, a brief description of the proposed 3-DOF parallel mechanism was presented.Then, the explicit expressions of inverse and forward kinematics of the mechanism were derived.By using screw theory, the generalized Jacobian analysis was carried out, based on which the force/motion transmissibility of the redundantly actuated parallel mechanism was investigated via four individual cases without actuation redundancy, leading to a local transmission index for the evaluation of kinematic performance of the proposed mechanism.Finally, the design variables of the mechanism were optimized by maximizing the mean value of the local transmission index with the aid of genetic algorithm(GA).The result of the kinematic optimization shows that the proposed parallel mechanism can achieve good force/motion transmissibility in its workspace. © 2018, Editorial Board of Journal of Tianjin University(Science and Technology). All right reserved.
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页码：357 / 366
页数：9
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