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根据人体踝关节的结构特性、损伤机理及运动方式,提出了一种3-(HS)S/S踝关节康复机器人来帮助患者进行踝关节康复训练。首先利用螺旋理论对其进行了自由度分析,其次采用解析法解出运动学逆解和工作空间。结果表明通过改变夹角鄣值,能够改善机器人的速度、加速度及工作空间性能,使得该机器人能够帮助患者进行初期、中期、后期的康复训练。
According to the structural characteristics of the human ankle, the injury mechanism and the movement mode, a 3- (HS) S / S ankle rehabilitation robot is proposed to help patients with ankle rehabilitation training. Firstly, the degree of freedom was analyzed by spiral theory. Secondly, the analytic method was used to solve the inverse kinematics and work space. The results show that by changing the angle 鄣 value, the robot can improve the speed, acceleration and work space performance, so that the robot can help patients with early, middle and late rehabilitation training.