踝关节康复训练并联机构构型及其运动学分析  

The Configuration of the Ankle Rehabilitation Exercises Parallel Mechanism and its Kinematics Analysis

作　　者：刘更谦[1] 高金莲[1] 杨四新 何春燕[1] 张小俊[1] 

机构地区：[1]河北工业大学机械学院,天津300130 [2]邢台机械轧辊(集团)有限公司,河北邢台054025

出　　处：《机电产品开发与创新》2005年第5期13-15,共3页Development & Innovation of Machinery & Electrical Products

摘　　要：在分析踝关节结构及运动方式的基础上,提出了一种3-RSS/S并联机器人方案用于踝关节康复治疗,并对其进行了位置逆解分析,得出了雅可比矩阵,为该机构的进一步分析、研发奠定了理论基础。Based on the analysis of the structure and motion mode of anklebone, a 3-RSS/S parallel robot was proposed for anklebone rehabilitation exercises in this paper. A converse solution of positions were analyzed ,and get a Jacobian matrix. This algorithm is simple and ease for the robot to implement real time control, and provide the theory support for the structure to be further analyzed and developed.

关 键 词：踝关节康复 并联机构 运动学分析 位置逆解 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]