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Kinematic Analysis and Simulation of a Parallel Manipulator for Ankle Rehabilitation

Author: HeChunYan
Tutor: LiuGengQian
School: Hebei University of Technology
Course: Mechanical and Electronic Engineering
Keywords: Ankle rehabilitation Parallel Robot Kinematic analysis Workspace Space model Simulation
CLC: TP242
Type: Master's thesis
Year: 2005
Downloads: 235
Quote: 2
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Abstract


The ankle sprain orthopedic common disease , could easily lead to ankle instability and repeated sprains and joint mobility barriers sequelae . Clinical trials to prove : rehabilitation after ankle sprain can achieve the maximum recovery of ankle function , to avoid the occurrence of sequelae . Clinical use of single ankle the shutdown rehabilitation equipment function , can not meet all the needs of the rehabilitation . The ankle rehabilitation based on the parallel mechanism in the research stage , and most of the cost is too high , the noise , inconvenience shortcomings not suitable for home use . In parallel mechanism , the institutional configuration determines the characteristics of the robot . Therefore, the authors starting from ankle rehabilitation mechanism proposed the new type 3-RSS/RU one with a central support shaft rotary input type analysis and comparison of the various parallel mechanism can achieve the rehabilitation of ankle three DOF Parallel Robot . The robot can achieve three-axis rotational motion , to meet the needs of ankle rehabilitation . This thesis derived 3-RSS/RU parallel robot inverse kinematics equation , and location of positive solutions were analyzed to derive the velocity Jacobian matrix , and this matrix based on the principle of virtual work torque transfer Ya Jacobian matrix , the input and output torque to make the simulation . By boundary value search method based on inverse kinematics , the cross sections of the working space analysis, draw three-dimensional surface of a work space , draw the shape of the workspace size parameters work space the impact and draw the appropriate conclusions . Model theory and the use of space to study the speed of the parallel robot isotropic isotropic and performance map is drawn , and laid the foundation for future optimization design . Inverse solution based on the use of parametric design and human-computer interaction combined method , developed using MATLAB simulation system 3-RSS/RU parallel robot kinematics and workspace . The system verification 3-RSS/RU parallel robot comply with ankle rehabilitation needs , and to improve the efficiency of the design of a certain value .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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