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

被引:1
|
作者
Liu, Ya [1 ,2 ]
Lu, Wenjuan [2 ,3 ,4 ]
Fan, Dabao [2 ]
Tan, Weijian [2 ]
Hu, Bo [1 ]
Zeng, Daxing [2 ,3 ,4 ]
机构
[1] Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Peoples R China
[2] Dongguan Univ Technol, Sch Mech Engn, Dongguan 523808, Peoples R China
[3] Dongguan Engn Technol Res Ctr Parallel Robot, Dongguan 523808, Peoples R China
[4] DGUT Innovat Ctr Robot & Intelligent Equipment, Dongguan 523808, Peoples R China
关键词
Ankle rehabilitation robot; Self-alignment; Parallel mechanism; Type synthesis; Screw theory; ALIGNING MECHANISM; DESIGN; EXOSKELETON; VALIDATION;
D O I
10.1186/s10033-024-00996-9
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
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.
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页数:16
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