A parallel ankle rehabilitation mechanism and its performance analysis based on 3-UPS/RRR - Details

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Abstract：

Based　on　the　physiological　anatomical　structure　and　movement　characteristics　analysis　of　human　ankle　joint,　a　3　degree　of　freedom　(DoF)　3-UPS/RRR　ankle　rehabilitation　parallel　mechanism　is　presented.　Its　three　active　branched　chain　inclination　arrangement　avoids　the　singular　configuration　of　the　mechanism　and　meets　the　required　ankle　rehabilitation　workspaces.　By　means　of　constraint　branches　and　the　moving　platform,　the　mechanism　center　of　rotations　matches　the　patient＇s　ankle　center　of　rotations.　Inverse　kinematics　is　solved　analytically　velocity　Jacobian　matrix　and　statics　Jacobian　matrix　are　established,　and　mechanism　workspace　is　coped　with.　Moreover,　in　view　of　Jacobian　matrix,　kinematics　performance　and　statics　performance　of　the　mechanism　are　analyzed　and　simulated.　The　result　shows　that　the　mechanism　is　of　favorable　operability,　flexibility,　and　stiffness　characteristics,　and　its　torque　transmission　is　within　the　specified　workspace.　Lastly,　inverse　dynamics　equations　of　the　mechanism　are　modeled　by　Newton-Euler　formulation;　the　relationship　among　driving　forces,　constraint　forces　and　motion　parameters　are　obtained.　A　computational　example　is　provided.　Copyright　©　2016　Acta　Automatica　Sinica.　All　rights　reserved.

Keyword：

Mechanisms Inverse problems Transmissions Degrees of freedom (mechanics) Jacobian matrices Inverse kinematics

Author Community：

[ 1 ] [Li, Jian-Feng]The College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing; 100124, China
[ 2 ] [Li, Jian-Feng]Advanced Manufacturing Technology of the Key Laboratory of Beijing Municipality, Beijing University of Technology, Beijing; 100124, China
[ 3 ] [Xu, Cheng-Hui]The College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing; 100124, China
[ 4 ] [Xu, Cheng-Hui]Advanced Manufacturing Technology of the Key Laboratory of Beijing Municipality, Beijing University of Technology, Beijing; 100124, China
[ 5 ] [Tao, Chun-Jing]National Research Center for Rehabilitation Technical Aids, Beijing; 100176, China
[ 6 ] [Ji, Run]National Research Center for Rehabilitation Technical Aids, Beijing; 100176, China
[ 7 ] [Li, Shi-Cai]The College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing; 100124, China
[ 8 ] [Li, Shi-Cai]Advanced Manufacturing Technology of the Key Laboratory of Beijing Municipality, Beijing University of Technology, Beijing; 100124, China
[ 9 ] [Zhang, Zhao-Jing]The College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing; 100124, China
[ 10 ] [Zhang, Zhao-Jing]Advanced Manufacturing Technology of the Key Laboratory of Beijing Municipality, Beijing University of Technology, Beijing; 100124, China

Reprint Author's Address：

李剑锋
[li, jian-feng]the college of mechanical engineering and applied electronics technology, beijing university of technology, beijing; 100124, china;;[li, jian-feng]advanced manufacturing technology of the key laboratory of beijing municipality, beijing university of technology, beijing; 100124, china

Email：

lijianfeng@bjut.edu.cn

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