Kinematics and reliable analysis of decoupled parallel mechanism for ankle rehabilitation

• Autores: Ting-Cheng Chang, Xiao-Dong Zhang
• Localización: Microelectronics reliability, ISSN 0026-2714, Nº. 99, 2019, págs. 203-212
• Idioma: inglés
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• Resumen

  • The rehabilitation training is the key process for restoring the normal physiological functions for patients. The rehabilitation robot has been developed for the reason that it can help patient complete the repeated training process. However, most of rehabilitation robots are based on parallel mechanism with coupled motion, which leads to the kinematic complication and unreliability. In order to overcome the weakness resulted from coupled motion, this paper presents a RRR-PaRPS-RHJ type ankle rehabilitation parallel mechanism with three rotation degrees of freedom and motion decoupling function. Firstly, the inverse kinematics results are obtained by using the transformation of coordinates, and the motion decoupling characteristics is analyzed. Then according to the Euler kinematic equations, the Jacobian matrix is computed. On this basis, the singular configuration is analyzed. Finally, the comparative analysis between 3-SPS/S and RRR-PaRPS-RHJ ankle rehabilitation mechanism is performed by ADAMS. The results show that the present mechanism has good kinematic character. It can avoid the driving interference caused by the motion coupling, which improves the comfort and reliability of the training process.