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为实现踝关节辅助康复,开发了一种基于中心球副支撑的踝关节辅助康复装置。该装置采用中心球副为支撑、3个S’PS’支链进行驱动,可形成工作平台的三维运动,能够实现踝关节的辅助康复。较详细地介绍了该装置的构型,并对装置的工作平台实现任意姿态的运动过程进行了分析,推导出了位移、速度和加速度的计算公式。给出了满足运动约束条件下的装置的运动分析的具体算例,为装置控制系统的设计奠定了基础。研究过程为同类结构的运动分析提供了参考。
In order to achieve ankle-assisted rehabilitation, an ankle-assisted rehabilitation device based on the central ball support was developed. The device uses the center ball pair as a support, three S’PS ’branch chain drive, can form a three-dimensional platform for the movement, enabling ankle joint rehabilitation. The configuration of the device is introduced in detail, and the moving process of the device working platform to achieve any gesture is analyzed. The formulas of displacement, velocity and acceleration are deduced. A concrete example of the motion analysis of the device under the condition of motion constraint is given, which lays the foundation for the design of the device control system. The research process provides a reference for the motion analysis of similar structures.