基于踝关节运动特性的三转动并联机构构型优选及仿真分析  

Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle

作　　者：李少帅 罗玉峰[1,2] 石志新[1] 谢冬福 刘振坤 Li Shaoshuai;Luo Yufeng;Shi Zhixin;Xie Dongfu;Liu Zhenkun(School of Mechanical and Electrical Engineering,Nanchang University,Nanchang 330031,China;East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]南昌大学机电工程学院,江西南昌330031 [2]华东交通大学,江西南昌330013

出　　处：《机械传动》2019年第3期76-82,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51365036)

摘　　要：根据人体踝关节的运动生理特点和并联机构的特点,以单开链为单元,基于方位特征集理论,对三转动并联机构进行了型综合;结合踝关节的特点,优选出了一种能辅助实现人体踝关节运动的三转动并联机构,并对其进行了运动学分析。基于建立的逆解方程,利用Matlab进行数据求解,最后将所得数据作为驱动函数在Adams应用可行性,同时为后续的机构尺寸优化设计提供了理论基础。According to the physiological characteristics of human ankle and parallel mechanism,several 0T3R parallel mechanisms are synthesized based on the Position and Orientation Characteristics(POC)set by taking the Single-Opened Chain(SOC)as the unit.Then combined with the characteristics of human ankle,one of the 0T3R parallel mechanisms is selected,and its kinematics analysis is carried out.Based on the estab.lished inverse displacement solution equation and by using the Matlab,the data solving is carried out.Finally,the obtained data is used as the driving function to simulate the mechanism in Adams.The simulation results verify the feasibility of the parallel mechanism,and a theoretical basis for the subsequent optimization design of mechanism size is provided.

关 键 词：康复机器人 踝关节 并联机构 方位特征集 运动学分析 仿真 

分 类 号：TH112[机械工程—机械设计及理论]