踝关节康复摇摆台设计与运动分析

Design and Motion Analysis of Ankle Rehabilitation Swing Table

踝关节康复摇摆台是一种可实现三自由度动作的踝关节康复训练设备,可以模拟并搭载患者进行踝关节的背屈、拓屈、外翻、内翻、外展、内收等六种模式的康复训练,文章首先依据康复医学理论对踝关节生理结构进行研究,确定踝关节康复训练可活动姿势和行程范围,其次根据活动姿势和行程范围对踝关节康复摇摆台进行结构设计,分析机构整体自由度并给出相应构件的形状尺寸,基于欧拉角位姿变换法对输出构件进行正逆运动学分析,最后在虚拟样机中对踝关节康复摇摆台的运动情况进行仿真。

Ankle rehabilitation swing table is a kind of ankle rehabilitation training equipment which can realize three degrees of freedom movement.It can simulate and allow patients to carry out ankle rehabilitation training in six modes:dorsiflexion,extension,valgus,varus,abduction and adduction.In this paper,the physiological structure of ankle joint is studied first based on the theory of rehabilitation medicine,and the movable posture and range of travel of ankle joint rehabilitation training are determined.Secondly,according to the movement posture and stroke range,the structure of the ankle rehabilitation swing table is designed,the overall degree of freedom of the mechanism is analyzed,and the shape and size of the corresponding components are given.Finally,the motion of the ankle rehabilitation swing table is simulated in the virtual prototype.