TY - JOUR
T1 - An ankle rehabilitation robot based on 3-RRS spherical parallel mechanism
AU - Du, Yuting
AU - Li, Ruiqin
AU - Li, Dahai
AU - Bai, Shaoping
PY - 2017/8/1
Y1 - 2017/8/1
N2 - This article presents the design modeling of a novel 3-RRS spherical parallel mechanism for ankle rehabilitation applications. The kinematics of the 3-RRS spherical parallel mechanism is established. The degree of freedom of 3-RRS spherical parallel mechanism is calculated using screw theory. The inverse kinematics of 3-RRS spherical parallel mechanism is solved. Eight groups of inverse solutions of 3-RRS spherical parallel mechanism are obtained. A method for forward position analysis is developed with variation and iteration approaches, which is suitable for motor position control. The ankle rehabilitation robot can be widely used in clinical treatment and can also be used at home, hotels, and fitness centers for ankle muscle relaxation.
AB - This article presents the design modeling of a novel 3-RRS spherical parallel mechanism for ankle rehabilitation applications. The kinematics of the 3-RRS spherical parallel mechanism is established. The degree of freedom of 3-RRS spherical parallel mechanism is calculated using screw theory. The inverse kinematics of 3-RRS spherical parallel mechanism is solved. Eight groups of inverse solutions of 3-RRS spherical parallel mechanism are obtained. A method for forward position analysis is developed with variation and iteration approaches, which is suitable for motor position control. The ankle rehabilitation robot can be widely used in clinical treatment and can also be used at home, hotels, and fitness centers for ankle muscle relaxation.
KW - 3-RRS
KW - ankle rehabilitation robot
KW - forward position analysis
KW - inverse position analysis
KW - spherical parallel mechanism
UR - http://www.scopus.com/inward/record.url?scp=85028345588&partnerID=8YFLogxK
U2 - 10.1177/1687814017718112
DO - 10.1177/1687814017718112
M3 - Journal article
AN - SCOPUS:85028345588
SN - 1687-8132
VL - 9
SP - 1
EP - 8
JO - Advances in Mechanical Engineering
JF - Advances in Mechanical Engineering
IS - 8
ER -