Improved ankle rehabilitation mechanism based on Stewart platform

Abstract

The invention discloses an improved ankle rehabilitation mechanism based on a Stewart platform. The improved ankle rehabilitation mechanism based on the Stewart platform comprises six telescopic branch chains; the telescopic branch chains are composed of motors, speed reducers and lead screws, and are symmetrically distributed relative to an intermediate plane at initial positions, and the motorsdrive the speed reducers and the lead screws to convert the rotational motion of the motors into linear motion; the telescopic branch chains are connected with a static platform and a movable platformthrough hinges respectively. The improved ankle rehabilitation mechanism based on the Stewart platform has the advantages that a parallel mechanism is improved based on the Stewart platform accordingto working space required for the rehabilitation of the ankle, the accessible working space is space formed by translating and scaling a prismatic section in the direction perpendicular to the staticplatform, the skillful working space has a wide range of angular motion, and the functional requirements of the ankle rehabilitation robot can be better met.

Description

technical field [0001] The invention relates to the field of rehabilitation institutions, in particular to an improved ankle rehabilitation mechanism based on the Stewart platform. Background technique [0002] Ankle joint injury is a clinically common disease, and is the disease with the highest incidence rate in joint and ligament injuries. The ankle joint is the weight-bearing joint closest to the ground in the human body, which means that the ankle joint is the joint with the most weight-bearing weight in the whole body. The stability of the ankle joint plays an important role in the normal performance of daily activities and sports. In the field of contemporary medical rehabilitation, the ankle rehabilitation robot is a kind of rehabilitation equipment, which can help patients with ankle movement disorders to perform rehabilitation training. However, some existing ankle rehabilitation robots are effective for ankle rehabilitation training to a certain extent, but they...

AI Technical Summary

Problems solved by technology

The Stewart platform has a working space with a certain attitude capability, but with the increase of its rotation angle around each axis in the parallel structure, the cross-sectional shape of the working space keeps getting smaller, and the dexterity is relatively poor

Through the analysis of the Stewart parallel mechanism, it is found that for some parallel mechanisms with a large range of motion, there may be problems such as singular configurations, difficulties in kinematics, and high coupling strength, which makes the analysis of parallel mechanisms very difficult.

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