摘要
在分析踝关节结构及运动方式的基础上,提出了一种3-RSS/S并联机器人方案用于踝关节康复治疗,并对其进行了位置逆解分析,得出了雅可比矩阵,为该机构的进一步分析、研发奠定了理论基础。
Based on the analysis of the structure and motion mode of anklebone, a 3-RSS/S parallel robot was proposed for anklebone rehabilitation exercises in this paper. A converse solution of positions were analyzed ,and get a Jacobian matrix. This algorithm is simple and ease for the robot to implement real time control, and provide the theory support for the structure to be further analyzed and developed.
出处
《机电产品开发与创新》
2005年第5期13-15,共3页
Development & Innovation of Machinery & Electrical Products
关键词
踝关节康复
并联机构
运动学分析
位置逆解
anklebone rehabilitation exercises
parallel mechanism
kinematics analysis
inverse solution of positions