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交通事故和中风后的神经损伤会导致下肢伤残,使得患者无法完成抬脚之类的简单动作.为了帮助患者恢复运动能力,提出一种适用于脚踝康复的3自由度绳驱动并联机构.首先介绍了绳驱动踝关节康复机构的结构.其次利用牛顿-拉夫逊迭代法和封闭矢量环法计算了位姿正反解,建立了速度雅可比矩阵.通过对驱动绳索的张力进行分析,优化了张力分布并求解了机构的工作空间.最后,基于雅可比矩阵分析了机构的运动性能.结果表明在规定的工作空间内机构无奇异点,有良好的运动灵巧性和刚度性能.而且设计的等效球面副和动平台使得机构的转动中心较好地与踝关节的转动中心相重合,相比现存的踝关节康复机器人更具优势.综上,设计的机构适合脚踝康复训练.
Injuries to the lower extremities caused by traffic accidents and strokes after nerve damage can make the patient unable to complete the simple movements such as raising the foot etc. In order to help the patients recover their exercise capacity, a 3-DOF rope-driven parallel mechanism for ankle rehabilitation is proposed. The structure of the rope driven ankle rehabilitation mechanism is introduced.Secondly, the positive and negative solutions of the pose are calculated by the Newton-Raphson iterative method and the closed-vector-loop method, and the Jacobian matrix of velocity is established.By analyzing the tension of the driving rope, Tension distribution and solve the working space of the mechanism.Finally, based on the Jacobian matrix, the motion performance of the mechanism is analyzed.The results show that there is no singularity in the work space, good motion dexterity and stiffness performance, Compared with the existing ankle rehabilitation robot, the spherical surface assistant and the movable platform make the center of rotation of the mechanism better coincide with the rotation center of the ankle, and in summary, the designed mechanism is suitable for ankle rehabilitation training.