1. Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom
- Author
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Ya Liu, Wenjuan Lu, Dabao Fan, Weijian Tan, Bo Hu, and Daxing Zeng
- Subjects
Ankle rehabilitation robot ,Self-alignment ,Parallel mechanism ,Type synthesis ,Screw theory ,Ocean engineering ,TC1501-1800 ,Mechanical engineering and machinery ,TJ1-1570 - Abstract
Abstract The current parallel ankle rehabilitation robot (ARR) suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation, which may lead to secondary injuries to the patient. This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot (PSAARR) based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing "suitable passive degrees of freedom (DOF)" with a suitable number and form. First, the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain (HRCC) formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of "decoupled" and "less limb". Second, the relationship between the self-alignment principle and actuation wrenches (twists) of PSAARR was analyzed with the velocity Jacobian matrix as a "bridge". Subsequently, the type synthesis conditions of PSAARR were proposed. Third, a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted. Finally, an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR. In this study, 93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis, which provides a theoretical basis for the design of such an ARR.
- Published
- 2024
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