Design and Workspace Optimization of 2UPS/RR Ankle Rehabilitation Mechanism

WU Guangjin; LU Zongxing; YU Xiaoyan

doi:10.13433/j.cnki.1003-8728.20200607

Volume 42 Issue 1

Jan. 2023

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2023 > 42(1): 83-91

WU Guangjin, LU Zongxing, YU Xiaoyan. Design and Workspace Optimization of 2UPS/RR Ankle Rehabilitation Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(1): 83-91. doi: 10.13433/j.cnki.1003-8728.20200607

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WU Guangjin, LU Zongxing, YU Xiaoyan. Design and Workspace Optimization of 2UPS/RR Ankle Rehabilitation Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(1): 83-91. doi: 10.13433/j.cnki.1003-8728.20200607

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Design and Workspace Optimization of 2UPS/RR Ankle Rehabilitation Mechanism

doi: 10.13433/j.cnki.1003-8728.20200607

School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China

Received Date: 2021-04-09
Publish Date: 2023-01-25

Abstract

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.
- ankle rehabilitation robot,
- parallel mechanism,
- closed vector method,
- spiral theory,
- workspace

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References(20)

References

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