Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom  

作　　者：Ya Liu Wenjuan Lu Dabao Fan Weijian Tan Bo Hu Daxing Zeng 

机构地区：[1]School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China [2]School of Mechanical Engineering,Dongguan University of Technology,Dongguan 523808,China [3]Dongguan Engineering Technology Research Center for Parallel Robot,Dongguan 523808,China [4]The DGUT Innovation Center of Robotics and Intelligent Equipment,Dongguan 523808,China

出　　处：《Chinese Journal of Mechanical Engineering》2024年第1期160-175,共16页中国机械工程学报（英文版）

基　　金：Supported by Key Scientific Research Platforms and Projects of Guangdong Regular Institutions of Higher Education of China(Grant No.2022KCXTD033);Guangdong Provincial Natural Science Foundation of China(Grant No.2023A1515012103);Guangdong Provincial Scientific Research Capacity Improvement Project of Key Developing Disciplines of China(Grant No.2021ZDJS084);National Natural Science Foundation of China(Grant No.52105009).

摘　　要：The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the patient.This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot(PSAARR)based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing"suitable passive degrees of freedom(DOF)"with a suitable number and form.First,the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain(HRCC)formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of"decoupled"and"less limb".Second,the relationship between the self-alignment principle and actuation wrenches(twists)of PSAARR was analyzed with the velocity Jacobian matrix as a"bridge".Subsequently,the type synthesis conditions of PSAARR were proposed.Third,a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted.Finally,an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR.In this study,93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis,which provides a theoretical basis for the design of such an ARR.

关 键 词：Ankle rehabilitation robot SELF-ALIGNMENT Parallel mechanism Type synthesis Screw theory 

分 类 号：O62[理学—有机化学]