摘要
根据人体踝关节的运动特点和柔索驱动并联机构的优势,提出了一种新型柔索驱动的3自由度并联机构踝关节康复机器人。采用封闭矢量四边形法则,建立了该机构的逆向运动学模型,并根据踝关节康复运动规律,对柔索驱动机器人进行了运动学仿真,得出驱动柔索长度变化规律,柔索长度变化的连续性证明了该机构的可操作性。
Based on the human ankle＇ s movement characteristic and the superiority of the cable - driven method, it designs a 3 degree - of - freedom cable - driven parallel mechanism to realize the robot of the ankle rehabilitation. It establishes the kinematic model of the mechanism, uses the closed - vector quadrilateral method to build the inverse kinematic model of the parallel robot. Based on human ankle＇ s rehabilitative movements, it＂ simuloates the kinematic of the cable- driven parallel robot, calculates the changes of the four cables＇ length. The simulation result proves that the mechanism is actionability.
基金
国家自然科学基金资助项目(51075209)
关键词
踝关节康复机器人
柔索驱动
并联机构
运动学模型
运动学仿真
Ankle Rehabilitative Robot
Cable-driven
Parallel Mechanism
Kinematic Model
Kinematic Simulation
