基于球副支撑的踝关节辅助康复装置的混合康复过程运动分析  

Motion Analysis of Mixed Rehabilitation Process for Ankle Joint Auxiliary Rehabilitation Device based on Ball Pair Support

作　　者：王良文[1] 宋康康[1] 岳磊[1] 时长敏 杜文辽[1] Wang Liangwen Song Kangkang Yue Lei Shi Changmin Du Wenliao(School of Electromechanical Science and Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China Henan Huanghe Whirlwind Co., Ltd., Changge 461500, China)

机构地区：[1]郑州轻工业学院机电工程学院,河南郑州450002 [2]河南黄河旋风股份有限公司,河南长葛461500

出　　处：《机械传动》2017年第9期76-81,共6页Journal of Mechanical Transmission

基　　金：河南省重点科技攻关项目(152102210145);全国大学生创业创新计划(201510462044);郑州轻工业学院博士科研基金支持项目(2016BSJJ009)

摘　　要：为实现踝关节辅助康复,开发了一种基于中心球副支撑的踝关节辅助康复装置。该装置采用中心球副为支撑、3个S'PS'支链进行驱动,可形成工作平台的三维运动,能够实现踝关节的辅助康复。较详细地介绍了该装置的构型,并对装置的工作平台实现任意姿态的运动过程进行了分析,推导出了位移、速度和加速度的计算公式。给出了满足运动约束条件下的装置的运动分析的具体算例,为装置控制系统的设计奠定了基础。研究过程为同类结构的运动分析提供了参考。In order to realize ankle joint auxiliary rehabilitation, a kind of auxiliary device for ankle joint rehabilitation based on center ball pair is developed. The device adopts the center ball pair as the support, and 3S＇PS＇ branch chain as drive system. The rehabilitation device can form the three - dimensional motions of the working platform, which can realize auxiliary rehabilitation for ankle joint. The configuration of the device is introduced in detail, and movement process for the working platform to realize any posture is analyzed for the device. The calculation formulas of displacement, velocity and acceleration are deduced. On the basis of this, the concrete examples of motion analysis for device satisfying the motion constraint condition are given respec- tively, the basis for the design of the device control system is provided. The research process provide a refer- ence for the motion analysis of similar structures.

关 键 词：踝关节 辅助康复 结构构型 运动分析 

分 类 号：TH789[机械工程—仪器科学与技术]