Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

Author:

Zhang JianjunORCID,Yang Shuai,Liu Chenglei,Wang Xiaohui,Guo Shijie

Abstract

AbstractThe kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle, which influences the rehabilitation effect. Therefore, this study equates the human ankle to the UR model and proposes a novel three degrees of freedom (3-DOF) generalized spherical parallel mechanism for ankle rehabilitation. The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints. Using screw theory, the mobility of the parallel mechanism, which meets the requirements of the human ankle, is analyzed. The inverse kinematics are presented, and singularities are identified based on the Jacobian matrix. The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle, which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation. Additionally, based on the motion-force transmissibility, the performance atlases are plotted in the parameter optimal design space, and the optimum parameter is obtained according to the demands of practical applications. The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range, which provides a theoretical basis for the prototype design and experimental verification.

Funder

National Natural Science Foundation of China

S&T Program of Hebei

Central Government Guides Basic Research Projects of Local Science and Technology Development Funds

Publisher

Springer Science and Business Media LLC

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Kinematics, dynamics and control of a novel 3-DOF parallel mechanism with parallelograms linkage structure;Proceedings of the 2024 3rd International Symposium on Control Engineering and Robotics;2024-05-24

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