Three-degree-of-freedom parallel ankle joint rehabilitation mechanism and control method thereof
A rehabilitation mechanism and control method technology, applied in computer control, program control, general control system, etc., can solve the problems of complex structure, difficult control algorithm implementation, high hardware cost, and achieve simple hardware structure, wide application range, and enhanced safety. sexual effect
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[0041] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application are described below clearly and completely. Obviously, the described embodiments are only a part of the embodiments of this application. Not all examples. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of this application.
[0042] A three-degree-of-freedom parallel ankle joint rehabilitation mechanism, comprising a base 3, a moving platform 1, a static platform 2 and four rope drive modules, wherein the moving platform 1 includes a rotating chassis 1-1, two vertical supports 1- 2. U-shaped bracket 1-3, vertical rotating link 1-4, first encoder 1-5-1, second encoder 1-5-2, third encoder 1-5-3 and pedals The two vertical brackets 1-2 are respectively arranged vertically and s...
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