摘要
根据踝关节的生理结构,提出一种两转一移并联机构2UU-UPU三自由度踝关节康复机器人,该机构能实现踝关节背屈、跖屈、内外翻的康复运动,应用Solidworks软件对踝关节康复机器人进行模型设计,利用Adams中Step函数进行踝关节康复初期的背屈、跖屈、内外翻康复运动路径规划和运动学仿真。分析结果表明,该踝关节康复机器人能实现踝关节初期运动康复功能,可实现最大40°的背屈运动,最大40°的跖屈运动,以及±40°的内外翻运动,运动轨迹连续平滑,满足踝关节患者的初期康复需求,并为下肢康复机器人的轨迹规划优化研究奠定了理论基础。
According to the anatomy of the ankle joint,a 3-DOF 2UU-UPU ankle rehabilitation robot was designed based on a 2R1T parallel mechanism.This mechanism can realize the rehabilitation of ankle joint dorsiflexor,plantar flexion and valgus.The model of ankle rehabilitation robot was designed by SolidWorks software,the kinematics simulation of dorsiflexion,plantar flexion,and extroversion ankle inversion rehabilitation training in the early stage of ankle joint rehabilitation was carried out using Step function.The analysis results show that the ankle rehabilitation robot can realize the function of ankle joint rehabilitation in the early stage,it can achieve a maximum of 40°dorsiflexion motions,a maximum of 40°plantarflexion motions,a maximum of 40°ankle inversion and extroversion motions.It can satisfy the demand of the patient with an ankle injury.This study lays a theoretical foundation for the research of trajectory planning optimization of lower limb rehabilitation robot.
作者
杨中原
崔冰艳
张祥
邓嘉
YANG Zhong-yuan;CUI Bing-yan;ZHANG Xiang;DENG Jia(College of Mechanical Engineering,North China University of Science and Technology,Tangshan Hebei 063210,China)
出处
《华北理工大学学报（自然科学版）》
CAS
2022年第1期68-75,共8页
Journal of North China University of Science and Technology：Natural Science Edition
基金
国家青年基金(E51505124)
河北省自然科学基金(E2017209252)
河北省教育厅基金(2018GJJG202)。
关键词
踝关节
康复机器人
仿真
ankle joint
rehabilitation robot
simulation
