踝关节康复并联机构的变胞设计和自由度分析  

METAMORPHIC DESIGN AND DEGREE OF FREEDOM ANALYSIS ABOUT PARALLEL MECHANISM FOR ANKLE REHABILITATION

作　　者：陈耿彪[1,2] 易宽寒 CHEN GengBiao;YI KuanHan(College of Automotive and Mechanical Engineering,Changsha University of Science and Technology College,Changsha 410114,China;Key Laboratory of Safety Design and Reliability Technology for Engineering Vehicle,Hunan Province,Changsha University of Science and Technology College,Changsha 410114,China)

机构地区：[1]长沙理工大学汽车与机械工程学院,长沙410114 [2]长沙理工大学工程车辆安全性设计与可靠性技术湖南省重点实验室,长沙410114

出　　处：《机械强度》2021年第2期470-475,共6页Journal of Mechanical Strength

基　　金：国家自然科学基金项目(51405036);湖南省教育厅科学研究开放平台项目(15K008);长沙理工大学工程车辆安全性设计与可靠性技术湖南省重点实验室开放基金项目(KF1606)资助。

摘　　要：为了实现踝关节患者在不同康复阶段的运动助力需求,提出一种踝关节康复变胞并联机构,具有3SPS/PS和3SPS/S两种运动模式,通过锁死或驱动(P) S支链移动副实现切换,切换的初始位形具有瞬时的空间一自由度移动和三个转动。其中3SPS/PS构型具有四自由度,分别是动平台绕x轴、y轴和z轴转动及沿z轴移动,3SPS/S构型具有三自由度,分别是动平台绕x轴、y轴和z轴转动。随后,利用螺旋理论分析和Adams仿真验证了上述结论。In order to achieve the movement demands of sprained ankle patients in different rehabilitation stages,this paper proposes a kind of metamorphic parallel mechanism for ankle rehabilitation,which can obtain the switch of 3 SPS/PS motion and 3 SPS/S motion by locking or driving the prismatic pair of( P) S branch chain. The initial configuration of the switch had instantaneously one movement and three rotations in space. Among them,3 SPS/PS configuration has four degrees of freedom,namely the rotation of the moving platform around the x axis,y axis and zaxis and the displacement along the z axis. 3 SPS/S configuration has three degrees of freedom,namely the rotation of the moving platform around the x axis,y axis and z axis,respectively. Finally,the conclusion is verified by screw theory analysis and Adams simulation.

关 键 词：变胞 并联机构 自由度 螺旋理论 

分 类 号：TH112[机械工程—机械设计及理论]