Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism
Based on the 3-UU parallel mechanism, a prototype robot for wrist joint rehabilitation is developed to assist stroke patients in wrist joint rehabilitation training. Based on the constraint relation and geometric characteristics of the 3-UU mechanism, the inverse kinematics of 3-UU mechanism is anal...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-04-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.04.022 |
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| author | Tian Peiliang Liu Zhifei Wang Weibo Ma Xiaobao Lan Yuan |
| author_facet | Tian Peiliang Liu Zhifei Wang Weibo Ma Xiaobao Lan Yuan |
| author_sort | Tian Peiliang |
| collection | DOAJ |
| description | Based on the 3-UU parallel mechanism, a prototype robot for wrist joint rehabilitation is developed to assist stroke patients in wrist joint rehabilitation training. Based on the constraint relation and geometric characteristics of the 3-UU mechanism, the inverse kinematics of 3-UU mechanism is analyzed by spherical coordinate method and roll-pitch-yaw (RPY) method， and the relation between the platform and the driver is obtained. Compared with the classic 3-RRR wrist joint rehabilitation mechanism, the developed prototype has no advantages such as multi-solution and singular value. The motion performance of the prototype and the electromyographic signals of the two major muscle groups in the forearm are measured. The experimental results show that the maximum roll angle is -90° to 90°, the pitch angle is -90° to 90°， and the virtual yaw angle is -180° to 180°. The maximum electromyogram (EMG) signal can be generated at 950 mV. The results show that the developed model can meet the requirements of the wrist motion and train the forearm muscle group. |
| format | Article |
| id | doaj-art-099efe3ce7344388b4546eb7e0e26d89 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-04-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-099efe3ce7344388b4546eb7e0e26d892025-01-10T15:00:20ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-04-014816217155347531Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel MechanismTian PeiliangLiu ZhifeiWang WeiboMa XiaobaoLan YuanBased on the 3-UU parallel mechanism, a prototype robot for wrist joint rehabilitation is developed to assist stroke patients in wrist joint rehabilitation training. Based on the constraint relation and geometric characteristics of the 3-UU mechanism, the inverse kinematics of 3-UU mechanism is analyzed by spherical coordinate method and roll-pitch-yaw (RPY) method， and the relation between the platform and the driver is obtained. Compared with the classic 3-RRR wrist joint rehabilitation mechanism, the developed prototype has no advantages such as multi-solution and singular value. The motion performance of the prototype and the electromyographic signals of the two major muscle groups in the forearm are measured. The experimental results show that the maximum roll angle is -90° to 90°, the pitch angle is -90° to 90°， and the virtual yaw angle is -180° to 180°. The maximum electromyogram (EMG) signal can be generated at 950 mV. The results show that the developed model can meet the requirements of the wrist motion and train the forearm muscle group.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.04.022Wrist joint trainingParallel mechanismInverse kinematicsRehabilitation robot |
| spellingShingle | Tian Peiliang Liu Zhifei Wang Weibo Ma Xiaobao Lan Yuan Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism Jixie chuandong Wrist joint training Parallel mechanism Inverse kinematics Rehabilitation robot |
| title | Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism |
| title_full | Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism |
| title_fullStr | Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism |
| title_full_unstemmed | Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism |
| title_short | Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism |
| title_sort | research and manufacturing of wrist joint rehabilitation robots based on the 3 uu parallel mechanism |
| topic | Wrist joint training Parallel mechanism Inverse kinematics Rehabilitation robot |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.04.022 |
| work_keys_str_mv | AT tianpeiliang researchandmanufacturingofwristjointrehabilitationrobotsbasedonthe3uuparallelmechanism AT liuzhifei researchandmanufacturingofwristjointrehabilitationrobotsbasedonthe3uuparallelmechanism AT wangweibo researchandmanufacturingofwristjointrehabilitationrobotsbasedonthe3uuparallelmechanism AT maxiaobao researchandmanufacturingofwristjointrehabilitationrobotsbasedonthe3uuparallelmechanism AT lanyuan researchandmanufacturingofwristjointrehabilitationrobotsbasedonthe3uuparallelmechanism |