1R2T-1R Type Rope-driven Lower Limb Rehabilitation Robot Kinematics and Its Workspace
For patients with lower limb motor hemiplegia, a 1R2T-1R type rope-driven lower limb rehabilitation robot is proposed and its complete model is built based on human lower limb movement patterns. The kinematic forward and inverse solution analysis is carried out for this robot and its correctness is...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-10-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.10.016 |
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| _version_ | 1841546984146599936 |
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| author | Wang Zhijun Wang Junpeng |
| author_facet | Wang Zhijun Wang Junpeng |
| author_sort | Wang Zhijun |
| collection | DOAJ |
| description | For patients with lower limb motor hemiplegia, a 1R2T-1R type rope-driven lower limb rehabilitation robot is proposed and its complete model is built based on human lower limb movement patterns. The kinematic forward and inverse solution analysis is carried out for this robot and its correctness is verified. Based on the Monte Carlo method, the controllable workspace and the actual workspace of this robot under the premise of force closure are solved in the Matlab environment and compared. The results show that the rehabilitation robot has a reasonable configuration and its working range can meet the needs of patients' rehabilitation training, which provides some reference for subsequent parameter optimization and trajectory planning. |
| format | Article |
| id | doaj-art-87da10bd2b1a483ab64401734a3dada2 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-10-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-87da10bd2b1a483ab64401734a3dada22025-01-10T14:59:11ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-10-0147110116427371491R2T-1R Type Rope-driven Lower Limb Rehabilitation Robot Kinematics and Its WorkspaceWang ZhijunWang JunpengFor patients with lower limb motor hemiplegia, a 1R2T-1R type rope-driven lower limb rehabilitation robot is proposed and its complete model is built based on human lower limb movement patterns. The kinematic forward and inverse solution analysis is carried out for this robot and its correctness is verified. Based on the Monte Carlo method, the controllable workspace and the actual workspace of this robot under the premise of force closure are solved in the Matlab environment and compared. The results show that the rehabilitation robot has a reasonable configuration and its working range can meet the needs of patients' rehabilitation training, which provides some reference for subsequent parameter optimization and trajectory planning.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.10.016Rope driveRehabilitation robotKinesiologyWorkspace |
| spellingShingle | Wang Zhijun Wang Junpeng 1R2T-1R Type Rope-driven Lower Limb Rehabilitation Robot Kinematics and Its Workspace Jixie chuandong Rope drive Rehabilitation robot Kinesiology Workspace |
| title | 1R2T-1R Type Rope-driven Lower Limb Rehabilitation Robot Kinematics and Its Workspace |
| title_full | 1R2T-1R Type Rope-driven Lower Limb Rehabilitation Robot Kinematics and Its Workspace |
| title_fullStr | 1R2T-1R Type Rope-driven Lower Limb Rehabilitation Robot Kinematics and Its Workspace |
| title_full_unstemmed | 1R2T-1R Type Rope-driven Lower Limb Rehabilitation Robot Kinematics and Its Workspace |
| title_short | 1R2T-1R Type Rope-driven Lower Limb Rehabilitation Robot Kinematics and Its Workspace |
| title_sort | 1r2t 1r type rope driven lower limb rehabilitation robot kinematics and its workspace |
| topic | Rope drive Rehabilitation robot Kinesiology Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.10.016 |
| work_keys_str_mv | AT wangzhijun 1r2t1rtyperopedrivenlowerlimbrehabilitationrobotkinematicsanditsworkspace AT wangjunpeng 1r2t1rtyperopedrivenlowerlimbrehabilitationrobotkinematicsanditsworkspace |