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.
|Conference||IFToMM World Congress on Mechanism and Machine Science|
|Period||15/07/2019 → 18/07/2019|
|Series||Mechanisms and Machine Science|