Parallel-connection artificial wrist joint capable of achieving circumduction motion
A motion and parallel technology, applied in the field of artificial wrist joints, can solve the problems of small bearing capacity, low precision, and heavy wrist weight, and achieve the effects of strong bearing capacity, high precision and strong functionality
Inactive Publication Date: 2018-11-23
BEIJING UNIV OF TECH
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Problems solved by technology
[0004] Traditional prosthetic wrist joints use series mechanisms to form joints to realize the movement of multiple degrees of freedom of the wrist, resulting in heavy wrist weight, low precision, and small bearing capacity
Method used
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Embodiment Construction
[0019] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0020] Such as Figure 1 to Figure 3 As shown, this embodiment provides a parallel prosthetic wrist joint capable of circular movement, including a base, a moving platform, a constraint branch, a first active branch and a second active branch.
[0021] Symmetrically distributed first and second fixing seats (2-1) and second fixing seats (2-2) are fixedly connected to the base (1).
[0022] A third fixed seat (10), a fourth fixed seat (8-1) and a fifth fixed seat (8-2) distributed in an equilateral triangle are fixedly connected to the moving platform (9).
[0023] The constraining branch chain includes an intermediate link (12) and an intermediate connecting piece (11). One end of the intermediate link (12) is vertically fixed to the base (1), and the other end is connected to the The intermediate connecting piece (11) is connected, and the other end...
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The invention relates to an artificial wrist joint, in particular to a parallel-connection artificial wrist joint capable of achieving circumduction motion. The artificial wrist joint comprises a base, a movable platform, a constrained branch chain, a first driving branch chain and a second driving branch chain; the constrained branch chain comprises a middle connection rod and a middle connectionpiece, the first driving branch chain comprises a first upper connection rod, a first push-rod-type linear driver and a first lower connection rod, and the second driving branch chain comprises a second upper connection rod, a second push-rod-type linear driver and a second lower connection rod. The flexion, extension, internal rotation, external rotation and circumduction motion of the artificial wrist joint can be achieved, and the artificial wrist joint has the advantages of high rigidity, bearing capacity, precision and functionality, excellent bionic properties and the like.
Description
technical field [0001] The invention relates to an artificial wrist joint, in particular to a parallel artificial wrist joint capable of circular motion. Background technique [0002] For a long time, users of upper limb prostheses have gradually increased their requirements for prosthetic functionality, mobility, and ease of control, while prosthetics equipped with active wrists are often overlooked by prosthetic designers. [0003] "Functional Anatomy of Bone Joints" published by People's Military Medical Publishing House (6th edition, chapter 4, page 152) believes that the human wrist joint can not only achieve flexion and extension, lateral deviation, internal rotation and external rotation, but also circular motion, that is, flexion and extension The compound movement of internal rotation and external rotation, while wrist circular movement plays an important role in life. Chinese patent CN02178574A proposes a false wrist joint, which can realize wrist flexion through ...
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IPC IPC(8): A61F2/58
CPCA61F2/583
Inventor 李剑锋周帅锋张雷雨张凯陈莹张子康刘钧辉曹强
Owner BEIJING UNIV OF TECH