Optimization of Structural Parameters and Mechanical Performance Analysis of a Novel Redundant Actuation Rehabilitation Training Robot

Optimization of Structural Parameters and Mechanical Performance Analysis of a Novel Redundant Actuation Rehabilitation Training Robot

The integration of redundant structures into robotic systems enhances the degrees of freedom (DOFs), flexibility, and capability to perform complex tasks. This study evaluates the mechanical performance of a 9-DOF series-parallel hybrid redundant device designed for rehabilitation training of patien...

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Bibliographic Details
Main Authors: Junyu Wu, He Wang, Yubin Liu, Zhuoqi Man, Xiaofan Yang, Xuanming Cao, Hegao Cai, Jie Zhao
Format: Article
Language:English
Published: MDPI AG 2025-03-01
Series:Biomimetics
Subjects:
dynamic simulation
performance analysis
rehabilitation training robot
redundant structure
structure parameter optimization
Online Access:https://www.mdpi.com/2313-7673/10/4/199
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Summary:The integration of redundant structures into robotic systems enhances the degrees of freedom (DOFs), flexibility, and capability to perform complex tasks. This study evaluates the mechanical performance of a 9-DOF series-parallel hybrid redundant device designed for rehabilitation training of patients with balance disorders. The redundant structural design improves the robot’s movement flexibility, optimizes load distribution, and mitigates stress concentration in local joints or components. To optimize the robot’s overall structural parameters and reduce joint driving forces, a genetic algorithm (GA) was employed. A custom dataset was created by collecting motion-related data, including foot posture and position. The robot’s mechanical characteristics were comprehensively analyzed, followed by simulation experiments. The results demonstrate that incorporating the redundant structure, along with the optimization of structural parameters, significantly enhances the robot’s mechanical performance. This study provides a solid foundation for the functional development and control system design of rehabilitation robots, extending the capabilities of existing systems and offering a novel, reliable, and efficient therapeutic tool for patients with balance disorders.
ISSN:2313-7673

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