踝关节康复六杆机构的性能分析  

Performance Analysis of Six-bar Mechanism used for Ankle Rehabilitation

作　　者：尹姣姣[1] 梅瑛[1] 李瑞琴[1] 秦伟桦 

机构地区：[1]中北大学机械与动力工程学院,山西太原030051

出　　处：《机械传动》2014年第7期107-110,共4页Journal of Mechanical Transmission

基　　金：国家自然科学基金资助项目(51275486)

摘　　要：提出了一种能帮助病人实现踝关节康复的六杆机构,首先建立机构的矢量方程,从而得到其所求输出点的轨迹方程。通过对助行过程中的运动学特性进行仿真分析,得到机构输出点脚踝和脚尖的位移、速度、加速度图,并分析出适合机构曲柄运动的合适转速。仿真分析的结果为人机作用点的选择、踝关节康复训练方式的制定及相应控制方式的选择提供了理论依据。A six--bar mechanism which can help patients achieve ankle rehabilitation is presented. The mechanism vector equation is established firstly. The locus equations of its output points are obtained. Through simulating the kinematic characteristics of the aided process, the output point ankle and tiptoe displacement, velocity, acceleration diagrams are obtained, then the suitable speed of the movement of the crank mechanism is analyzed. The simulation results of the analysis provided a theoretical basis to human action point selection, the ways to develop ankle rehabilitation training and the corresponding control mode.

关 键 词：康复机构 六杆机构 运动学模型 仿真 

分 类 号：TH112[机械工程—机械设计及理论]