摘要
根据人体踝关节的运动特点,提出采用具有3个转动自由度的并联机构实现踝关节康复训练机器人。通过自由度分析,开展机构分支运动链设计,得到了3-SPS/S型并联机构。研究了机构奇异性出现的条件,奇异性分析结果表明:不同的机构结构形式,其运动学性能也完全不同。
In this paper, a three dimension-of-freedom(DOF) parallel mechanism with pure spherical rotations is presented for ankle rehabilitation. After calculating the DOF, design of kinematical chains is carried out, leading to a 3-SPS/S parallel mechanism. Based on the kinematical analysis, three cases of singularity are discussed. The results show that different architectures may result in huge differences in kinematical performance.
出处
《上海电机学院学报》
2010年第4期211-214,共4页
Journal of Shanghai Dianji University
基金
国家高技术研究发展计划(863)项目(2007AA041600)
关键词
并联机构
康复机器人
奇异性
parallel mechanism
rehabilitation robot
singularity