串并联柔性脚踝康复机构分析及康复效果仿真  

Analysis of Series-Parallel Flexible Ankle Rehabilitation Mechanism and Simulation of Rehabilitation Effect

作　　者：李贤玉 王海芳 黄鹏 程继兵 LI Xianyu;WANG Haifang;HUANG Peng;CHENG Jibing(School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,China;Quality and Technology Center,Zhongyou Baoshishun(Qinhuangdao)Petropipe Co.,Ltd.,Qinhuangdao 066206,China)

机构地区：[1]东北大学秦皇岛分校控制工程学院,秦皇岛066004 [2]中油宝世顺(秦皇岛)钢管有限公司质量技术中心,秦皇岛066206

出　　处：《组合机床与自动化加工技术》2025年第3期10-14,20,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(51905080);河北省自然科学基金项目(E2020501018);河北省在读研究生创新能力培养资助项目(CXZZSS2024171)。

摘　　要：为提高患者在踝关节康复过程中的安全性与舒适性,提出了一种以柔性同步带驱动的三自由度串并联式踝关节康复机构。首先,根据踝关节的运动特点对串并联机构进行了设计,使机构的转动中心与踝关节转动中心重合,保证了康复训练过程中的安全性,使用柔性同步带作为驱动元件,大大减小了机构运动时的冲击;其次,利用螺旋理论计算了机构的自由度,利用牛顿迭代法和闭环矢量法分析了机构的位置正反解,求解了机构的工作空间以及对机构进行了运动学仿真;最后,使用AnyBody进行康复过程仿真,对机构的康复效果进行了分析。A three-degree-of-freedom series-parallel ankle rehabilitation mechanism driven by a flexible timing belt is proposed to improve the safety and comfort of patients during ankle rehabilitation.Firstly,the series-parallel mechanism was designed according to the movement characteristics of the ankle joint,so that the rotation center of the mechanism coincided with the rotation center of the ankle joint,which ensured the safety during the rehabilitation training process,and the use of flexible synchronous belt as the driving element greatly reduced the impact of the mechanism during the movement.Secondly,the degrees of freedom of the mechanism were calculated using helix theory,the positional positive and negative solutions of the mechanism were analyzed using Newton′s iterative method and the closed-loop vector method,the workspace of the mechanism was solved,and the kinematic simulation of the mechanism was carried out.Finally,the rehabilitation process was simulated using AnyBody to analyze the rehabilitation effects of the institution.

关 键 词：串并联机构 踝关节 康复 柔性驱动 AnyBody 

分 类 号：TH164[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]