3R踝关节康复机器人工作空间研究  

Research on Workspace of 3R Ankle Rehabilitation Robot

作　　者：王鑫 唐小强 张化平 孙鑫 周阳 刘杰 Wang Xin;Tang Xiaoqiang;Zhang Huaping;Sun Xin;Zhou Yang;Liu Jie(Lanzhou Petrochemical University of Vocational Technology,Lanzhou,China)

机构地区：[1]兰州石化职业技术大学,甘肃兰州

出　　处：《科学技术创新》2025年第2期217-220,共4页Scientific and Technological Innovation

基　　金：甘肃省教育厅高等学校创新基金(2024A-238);国家大学生创新创业训练计划项目(202216209008)。

摘　　要：本文首先对3R踝关节康复训练机器人的工作原理和拓扑构型进行了分析。建立了以D-H法为基础的3R踝关节康复训练器机器人运动学模型。在Inventor软件中完成了3R踝关节康复机器人的初步方案设计工作,借助MATLAB软件仿真分析了脚踏板上一点P在单一康复训练模式和复合康复训练模式下的运动轨迹,进而验证了3R踝关节康复机器人运动学模型的正确性。最后,借助工作原理动画,分析了3R踝关节康复训练机器人在内翻/外翻、背伸/跖屈、内旋/外旋极限位置的工作空间,验证了3R踝关节康复训练机器人初步方案设计的合理性。It was analysed on working principle and topological structure of 3R ankle rehabilitation robot firstly.The kinematic model of 3R ankle rehabilitation robot was established which based on D-H method.Then by means of Inventor software the priliminary scheme design of 3R ankle rehabilitation robot was achieved.With the help of Matlab software the movement trajectory of P point with single rehabilitation model and complex rehabilitation model was achieved.Therefore it verified the validity of kinematic model of 3R ankle rehabilitation robot.In the end the extreme position workspace about Varus/valgus,dorsalus/plantar flexion,pronation/pronation were stimulated with the aided of working principle animation,So the rationality of preliminary scheme design of 3R ankle rehabilitation robot was validated.

关 键 词：3R踝关节康复机器人 拓扑构型 复合康复训练模式 初步方案设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R496[自动化与计算机技术—控制科学与工程]