Mathematical Modeling and Kinematics Analysis for a Novel Ankle Rehabilitation Robot

被引：3
|
作者：
Li, Yang [1 ]
Yao, Ligang [1 ]
机构：
[1] Fuzhou Univ, Sch Mech Engn & Automat, 2 Xueyuan Rd, Fuzhou 350116, Fujian, Peoples R China
来源：
ADVANCES IN RECONFIGURABLE MECHANISMS AND ROBOTS II | 2016年 / 36卷
关键词：
Ankle rehabilitation robot; Mathematical modeling; Kinematics; Inverse solution;
D O I：
10.1007/978-3-319-23327-7_49
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper proposes a novel ankle rehabilitation robot. The proposed robot is composed of a series mechanism, three-branch parallel mechanisms and a supporting bracket. The mathematical modeling for kinematic characteristics analysis for the proposed robot is given. The function relationships between the rotating angle of the moving platform and the output of the actuators are obtained. The curves of the output rule of the actuators also show the inverse solution of the proposed robot. Based on the relationship the output of the actuators can be set to meet required angle of the moving platform in the rehabilitation processes.
引用
收藏
页码：571 / 580
页数：10
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