3-(HS)S/S踝关节康复机器人的运动学分析

Kinematics analysis of a 3-(HS)S/S ankle rehabilitation parallel mechanism

根据人体踝关节的结构特性、损伤机理及运动方式,提出了一种3-(HS)S/S踝关节康复机器人来帮助患者进行踝关节康复训练。首先利用螺旋理论对其进行了自由度分析,其次采用解析法解出运动学逆解和工作空间。结果表明通过改变夹角鄣值,能够改善机器人的速度、加速度及工作空间性能,使得该机器人能够帮助患者进行初期、中期、后期的康复训练。

Based on the ankle physiological structure, damage mechanism and motion mode, a 3-（3HS） S/S parallel robot that helps patients to take ankle rehabilitation exercising is presented. Firstly, screw theory is adopted to analyze the robot de- grees of freedom. Then inverse kinematic solution is solved by analytical method, and the work space of the robot is analyzed. The results show that the robot properties including speed, acceleration and the velocity anisotropy were improved by changing the angle of 0, and then help patients with ankle joint injury in different stages to rehabilitation train.