面向踝关节康复混联R&(2-SPU+PRR)机构的设计及运动学分析  

Design and Kinematics Analysis of the R&(2-SPU+PRR)Hybrid Mechanism for Ankle Rehabilitation

作　　者：王志浩 李瑞琴[1] 樊文龙 王春臻 Wang Zhihao;Li Ruiqin;Fan Wenlong;Wang Chunzhen(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《机械传动》2023年第4期79-83,共5页Journal of Mechanical Transmission

基　　金：山西省重点研发计划(201803D421028,201903D421051)。

摘　　要：针对脑卒中患者的踝关节康复及训练,提出一种具有3R1T运动性能的脚踝康复机构。运用螺旋理论分析自由度,利用封闭矢量法求解位置逆解,运用Adams对混联机构进行了运动学分析;并计算了该机构在背伸、趾屈运动时最大转动角度误差值。结果表明,在限位装置的限制下,该机构可在踝关节安全运动范围之内完成患者所需康复运动及竖直方向的关节牵引运动。Aiming at the ankle rehabilitation and training of stroke patients,an ankle rehabilitation mechanism with 3R1T sports performance is proposed.The screw theory is used to analyze the degree of freedom,the closed vector method is used to solve the inverse position solution,and Adams is used to simulate the kinematics of the hybrid mechanism.The maximum rotation angle error of the mechanism during dorsiflexion and toe flexion is calculated.The results show that under the displacement-restriction device,the mechanism can complete the rehabilitation movement and vertical joint traction movement required by patients within the safe range of ankle movement.

关 键 词：康复机构 踝关节 混联机构 运动学 限位装置 

分 类 号：TH77[机械工程—仪器科学与技术]