3自由度刚柔耦合并联踝关节康复机构设计及运动学分析  

Design and Kinematics Analysis of a 3-DOF Rigid Flexible Coupling Parallel Ankle Rehabilitation Mechanism

作　　者：马志广 王康康 张磊乐 宋艳 贾少薇 Ma Zhiguang;Wang Kangkang;Zhang Leile;Song Yan;Jia Shaowei(School of Mechanical Electrical Engineering and Intelligent Manufacturing,HeNan Open University,Zhengzhou 450008,China;Intelligent Equipment Division,Zhengzhou Research Institute of Mechanical engineering Co.,Ltd.,Zhengzhou 450001,China;School of Biological Science and Medical Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]河南开放大学机电工程与智能制造学院,河南郑州450008 [2]郑州机械研究所有限公司智能装备事业部,河南郑州450001 [3]北京航空航天大学生物医学与工程学院,北京100191

出　　处：《机械传动》2022年第9期92-96,共5页Journal of Mechanical Transmission

基　　金：河南省科技攻关项目(212102210163);河南省科技攻关项目(222102210294)。

摘　　要：在研究踝关节康复运动机理的基础上,提出了一种3自由度刚柔耦合并联踝关节康复机构,以解决现有康复机构存在的柔顺性差、惯性冲击大等问题。求解了该并联康复机构的运动学正反解,验证了计算结果的正确性;进一步求解了机构的雅可比矩阵,分析了机构的绳索速度变化与动平台速度变化的关系,并对机构的位置变化及速度变化进行了仿真分析。结果表明,设计的机构运动平稳,可以满足踝关节康复训练的要求,也为后续控制系统的研发提供了理论基础。Based on the study of the ankle rehabilitation mechanism,a 3-DOF rigid flexible couplingparallel ankle rehabilitation mechanism is proposed,which solves the problems of poor compliance and large in-ertial impact existing in the present rehabilitation institutions. The forward and inverse kinematics solutions ofthe parallel rehabilitation mechanism are solved,and the correctness of the calculation results is verified. Fur-thermore,the Jacobian matrix of the mechanism is solved,the relationship between the rope speed change ofthe mechanism and the speed change of the moving platform is analyzed,and the position change and speedchange of the mechanism are simulated and analyzed. The results show that the designed mechanism movessmoothly,can meet the requirements of ankle rehabilitation training,and also provides a theoretical basis forthe research and development of the follow-up control system.

关 键 词：踝关节康复 并联机构 运动学 绳传动 

分 类 号：TH112[机械工程—机械设计及理论]