Design and Workspace Optimization of 2UPS/RR Ankle Rehabilitation Mechanism
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摘要: 为了实现脚踝康复运动，设计开发2UPS/RR脚踝康复机器人；通过螺旋理论对并联机构自由度进行计算，使用闭环矢量法求得机构的逆解方程，应用点集搜索法求得机构得工作空间；调整并研究机构杆件空间位置布局对工作空间及面积的影响, 结果表明，优化后的机构的工作空间能够满足脚踝康复所需的运动角度。最后以MATLAB及ADAMS软件通过实例验证逆解正确性, 并仿真得到机构确定点在空间中运动轨迹。Abstract: In order to achieve ankle rehabilitation exercise, a 2UPS/RR ankle rehabilitation robot was designed and developed. The degree of freedom of the parallel mechanism was calculated using the spiral theory, the inverse equation of the mechanism was obtained by closed vector method, and the point set search method was used to calculate its workspace. The spatial positions and layout of the mechanism rods were adjusted and their influence on the workspace and area was researched. The results show that the working space of the optimized mechanism can meet the motion range required for ankle rehabilitation. Finally, the MATLAB and ADAMS software were used to verify the correctness of the inverse solution through examples, and the trajectory of the mechanism to determine the point in the space was obtained by simulation.
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Key words:
- ankle rehabilitation robot /
- parallel mechanism /
- closed vector method /
- spiral theory /
- workspace
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表 1 机构参数
点位 位置 Oa1 (205, 165, -385) Oa2 (-205, 165, -385) Tb1 (161.35, 158.98, 9.05) Tb1 (-161.35, 158.98, 9.05) 
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