仿生踝关节辅助康复装置的运动建模分析  

Analysis and Motion Modeling of Bionic Auxiliary Device for Ankle Rehabilitation

作　　者：王良文[1] 李群涛[1] 王新杰[1] 穆小奇[1] 谢贵重 杜文辽[1] 

机构地区：[1]郑州轻工业学院机电工程学院,河南郑州450002

出　　处：《机械传动》2016年第3期102-106,共5页Journal of Mechanical Transmission

基　　金：河南省高校科技创新团队支持计划(2012IRTSTHN013);河南省创新型科技人才队伍建设工程的资助

摘　　要：为实现踝关节辅助康复,开发了一种基于球销副的仿生踝关节辅助康复装置,该装置具有两个自由度,但能近似实现踝关节的三维运动。在介绍仿生踝关节辅助康复装置结构的基础上,对其进行了运动建模分析。针对结构采用的多种运动驱动模式,对刚柔组合驱动与刚性驱动模式分别进行建模分析,给出了相关计算公式,并采用Matlab软件进行了计算。研究过程为多运动模式的机构分析提供了参考。In order to realize the ankle recovery,a kind of auxiliary device for ankle rehabilitation based on a ball pin vice is developed. The device has two degrees of freedom,while three- dimensional movement of the ankle can be achieved approximately. Based on introducing the structure of the auxiliary device for ankle rehabilitation,the motion modeling and analysis of the device are performed. Aiming at multiple kind of drive patterns of the structure,the modeling analysis of rigid- soft combination drive and rigid drive pattern are conducted respectively. The related calculation formulas are deduced and calculated by Matlab. A process of this research can be as a reference for mechanism analysis of more motion models.

关 键 词：踝关节 仿生 辅助康复装置 运动建模 

分 类 号：TH789[机械工程—仪器科学与技术]