| 闫刚， 刘霞， 刘伟*， 王琰， 梁俊侨.完全解耦的3转动脚踝康复并联机构[J].轻工机械,2025,43(5):1-10 |
| 完全解耦的3转动脚踝康复并联机构 |
| Fully Decoupled 3R Medical Ankle Rehabilitation Parallel Mechanism |
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| DOI：10.3969/j.issn.1005 2895.2025.05.001 |
| 中文关键词: 脚踝康复机构 并联机构 3转动自由度 螺旋理论 雅可比矩阵 ADAMS软件 MATLAB软件 |
| 英文关键词:ankle rehabilitation mechanism parallel mechanism 3 rotational degrees spiral theory Jacobian matrix ADAMS MATLAB |
| 基金项目: |
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| 摘要点击次数: 2 |
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| 中文摘要: |
| 为加快踝关节的康复痊愈，课题组设计了一种新型的完全解耦的3转（3R）脚踝康复并联机构，以实现在输出3个转动自由度下完全耦合。根据球面3R特性，在机构运动学分析的基础上，课题组采用螺旋理论和修正的K G公式来验证新机构的自由度，建立运动学方程，对运动学正、逆解进行分析求解；同时对机构动平台进行速度求解分析，得到恒定的雅可比矩阵；最后采用ADAMS软件和MATLAB软件对机构模型进行仿真分析。结果表明：在恒定的雅可比矩阵条件下，该机构的运动控制能力及效率得到了大幅度提升。仿真及理论分析结果验证了该3R脚踝康复并联机构设计的合理性。 |
| 英文摘要: |
| In order to accelerate the rehabilitation healing of the ankle joint,a new fully decoupled 3R ankle rehabilitation parallel mechanism was designed to realize the full coupling under the output of 3 rotational degrees of freedom. Based on the spherical 3R characteristics and the kinematic analysis of the mechanism, the spiral theory and modified K G formula were adopted to verify the degrees of freedom of the new mechanism. The kinematic equations were established to analyze and solve the forward and inverse kinematics solutions. At the same time, the velocity solution analysis was carried out on the moving platform of the mechanism, and the constant Jacobian matrix was obtained. Finally, ADAMS software and MATLAB software were used to simulate and analyze the model of the mechanism. The results show that under constant Jacobian matrix conditions, the motion control capability and efficiency of the mechanism have been significantly improved.The simulation and theoretical analysis have verified the rationality of the 3R ankle rehabilitation parallel mechanism design. |
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