3R1T型并联式踝关节康复机构型综合  

Configuration Synthesis of 3R1T Parallel Ankle Joint Rehabilitation Mechanism

作　　者：潘瑞冬 殷宝麟[1] 颜兵兵[1] 朱振权 郑春雷 PAN Ruidong;YIN Baolin;YAN Bingbing;ZHU Zhenquan;ZHENG Chunlei(Jiamusi University,Jiamusi Heilongjiang 154007,China)

机构地区：[1]佳木斯大学,黑龙江佳木斯154007

出　　处：《佳木斯大学学报（自然科学版）》2023年第4期87-90,134,共5页Journal of Jiamusi University：Natural Science Edition

基　　金：黑龙江省省属高等学校基本科研业务费科研项目(2021-KYYWF-0562)。

摘　　要：针对踝关节的活动度和康复训练的条件进行分析,确定期望自由度的类型,明确构型综合的目标为3R1T型,通过约束螺旋综合法进行构型综合。首先求解3R1T型并联机构的运动螺旋系与约束螺旋系,推导出3R1T型并联机构不同自由度分支的约束螺旋系与运动螺旋系。然后通过对分支的运动螺旋系进行线性变换得到不同结构的串联分支,将分支组合得到一系列不同类型的3R1T型并联机构。最后选取其中一种构型进行瞬时机构的判别,为康复机构的本体设计提供理论依据。The degree of motion of the ankle joint and the conditions of rehabilitation training are analyzed to deter-mine the type of the desired degree of freedom,and the goal of configuration synthesis is 3R1T type,and the configuration synthesis is carried out by the constrained spiral synthesis method.Firstly,the kinematic helical system and constraint helical system of the 3R1T parallel mechanism are solved,and the constraint helical system and the kinematic helical system of the different degrees of freedom branches of the 3R1T parallel mechanism are deduced.Then,the series branches of different structures are obtained by linearly trans-forming the motion helical system of the branches,and a series of different types of 3R1T parallel mechanisms are obtained by combining the branches.Finally,one of the configurations is selected to discriminate the instantaneous mechanism,which provides a theoretical basis for the ontology design of the rehabilitation mechanism.

关 键 词：踝关节康复 并联机构 型综合 

分 类 号：TH112[机械工程—机械设计及理论]