Design and Motion Performance Analysis of 2URR-SRR-RUPUR Parallel Leg Rehabilitation Robot Mechanism
Based on the mechanism of leg joint rehabilitation， a 2URR-SRR-RUPUR four-degree-of-freedom parallel leg rehabilitation robot is proposed， which can realize the abduction and adduction of ankle joint， flexion and extension of knee joint， hip joint abduction and adduction movements and leg stretching...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-03-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.014 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | Based on the mechanism of leg joint rehabilitation， a 2URR-SRR-RUPUR four-degree-of-freedom parallel leg rehabilitation robot is proposed， which can realize the abduction and adduction of ankle joint， flexion and extension of knee joint， hip joint abduction and adduction movements and leg stretching movements. Based on the spiral theory， the constrained spiral system and the degree of freedom properties of the mechanism in the general configuration and the initial configuration are analyzed. The kinematics model of the 2URR-SRR-RUPUR parallel mechanism is established. The closed-loop vector method is used to solve the inverse kinematics of the mechanism and the velocity Jacobian matrix of the mechanism is analyzed. On this basis， the working space and singularity of the mechanism are studied， the workspace map and singularity configuration of the mechanism are obtained. The trajectory planning of the mechanism is based on the rehabilitation path of leg joints， and the planning results are analyzed by SolidWorks Motion software. The simulation results show that the movement of the mechanism is continuous and smooth， suitable for leg rehabilitation training and has good application potential. |
|---|---|
| ISSN: | 1004-2539 |