Design and Analysis of a Novel RR-RURU Ankle Rehabilitation Robot Mechanism

Abstract

Abstract: A novel ankle rehabilitation robot was designed based on the uncoupled RR-RURU rotational parallel mechanism.The kinematic output characteristics mechanism was analyzed and the degree of freedom was calculated in terms of the screw theory.Mathematical models of the posture and the angular velocity of the platform were established.Structural conditions of the fully-isotropic performance for the mechanisms were discussed in detail.Singularity was analyzed based on the linear dependence of the kinematic screw system of the first limb and the singular configurations were given as well.Workspace was investigated and the three-dimensional graphic was also described.Finally, CAD model of the novel ankle rehabilitation robot were given.The output angular displacement curves of the robot were obtained by means of the clinical gait analysis data (CGA).In addition, the dynamics of the ankle rehabilitation robot was simulated by using the virtual prototype.The results provide the theoretical basis to develop the physical prototype of the ankle rehabilitation robots.

Key words: ankle rehabilitation robot, parallel mechanism, kinematics analysis, singularity, workspace

摘要： 基于无耦合RR-RURU转动并联机构设计出一种新型踝关节康复机器人。利用螺旋理论对机构进行了运动输出特性分析和自由度计算；推导出机构动平台的姿态方程和角速度方程，讨论了机构满足运动学完全各向同性的结构条件；根据机构分支运动链的运动螺旋系的线性相关性，分析了机构的运动学奇异性并给出其奇异位形；研究了机构的工作空间，得到其可达工作空间的三维图形。绘制出新型踝关节康复机器人的CAD模型，利用临床医学步态分析数据（CGA）得到其输出角位移曲线，并对其动力学进行了虚拟样机仿真。研究结果为该新型踝关节康复机器人的样机试制提供了理论基础。

关键词: 踝关节康复机器人, 并联机构, 运动学分析, 奇异性, 工作空间

CLC Number:

TP242
TH112

ZHANG Yanbin1，2，3;JING Xianling1;HAN Jianhai1，2;CHEN Zihao1. Design and Analysis of a Novel RR-RURU Ankle Rehabilitation Robot Mechanism[J]. China Mechanical Engineering.

张彦斌1,2,3;荆献领1;韩建海1,2;陈子豪1. 新型RR-RURU踝关节康复机器人机构的设计与分析[J]. 中国机械工程.

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