Kinematic Design of a 2-SPS/PU&R 4-DOF Hybrid Robot for Ankle Rehabilitation

Ruiqin Li, Xiaoqin Fan, Xiang Li, Shaoping Bai, Jianwei Zhang

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Abstrakt

A (2-SPS/PU)&R 4-DOF hybrid robot for ankle rehabilitation is presented in this paper. The robot is able to generate three-dimensional rotations and a stretching motion along the lower limb direction for ankle rehabilitation. In the paper, the inverse kinematics of the parallel mechanism is analyzed using closed-loop vector method. The velocity Jacobian matrix of the parallel mechanism is solved. The kinematics of the (2-SPS/PU)&R hybrid mechanism is simulated using ADAMS software. The results show that the mechanism can reach the motion ranges needed for ankle joint rehabilitation.
OriginalsprogEngelsk
TitelAdvances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science
ForlagSpringer
Publikationsdato2019
Sider1849-1858
ISBN (Trykt)978-3-030-20130-2
ISBN (Elektronisk)978-3-030-20131-9
DOI
StatusUdgivet - 2019
BegivenhedIFToMM World Congress on Mechanism and Machine Science - , Polen
Varighed: 15 jul. 201918 jul. 2019

Konference

KonferenceIFToMM World Congress on Mechanism and Machine Science
LandPolen
Periode15/07/201918/07/2019
NavnMechanisms and Machine Science
Vol/bind73
ISSN2211-0984

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