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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

Inactive Publication Date: 2019-12-13
HOHAI UNIV CHANGZHOU
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Problems solved by technology

Both of the above two methods have problems such as high hardware cost and complex structure; in terms of software, there are also difficulties in implementing control algorithms

Method used

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  • Three-degree-of-freedom parallel ankle joint rehabilitation mechanism and control method thereof
  • Three-degree-of-freedom parallel ankle joint rehabilitation mechanism and control method thereof
  • Three-degree-of-freedom parallel ankle joint rehabilitation mechanism and control method thereof

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Embodiment Construction

[0041] In order to enable those skilled in the art to better understand the technical solutions in the application, the technical solutions in the embodiments of the application are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the application, and Not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0042] A three-degree-of-freedom parallel ankle joint rehabilitation mechanism, including a base 3, a moving platform 1, a static platform 2 and four rope-driven modules, wherein the moving platform 1 includes a rotating chassis 1-1, two vertical supports 1- 2, U-shaped bracket 1-3, vertically rotating connecting rod 1-4, first encoder 1-5-1, second encoder 1-5-2, third encoder 1-5-3 and pedal plate 1-6, the two vertical brackets 1-2 are arrange...

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Abstract

The invention discloses a three-degree-of-freedom parallel ankle joint rehabilitation mechanism and a control method thereof. The control method comprises the following steps: (1) a platform mechanismis established, a platform is divided into a movable platform and a static platform, and a movable coordinate system and a static coordinate system are established on the platform; 2) the length variable quantities of four ropes corresponding to different poses are solved through inverse kinematics solution; 3) the obtained length variable quantities of the four ropes are derived to obtain the movement speed of the ropes; and (4) a main control MCU controls a stepping motor to continuously move to drive the ropes to stretch out and draw back so as to achieve output of the Euler angle of the movable platform, and rotation of the movable platform in three directions is achieved. Compared with the prior art, the hardware structure is simple, intermediate links are reduced, and the reliability is high; the main control MCU adopts an STM32 single-chip microcomputer, so that the rehabilitation mechanism has the advantages of low cost, high benefits and wide application range, a control algorithm is easy to realize, feedback adjustment is used, the safety of the device is enhanced, and the rehabilitation mechanism has a relatively good promotion value.

Description

technical field [0001] The invention relates to a three-degree-of-freedom parallel ankle joint rehabilitation mechanism and a control method thereof, belonging to the field of ankle joint rehabilitation training. Background technique [0002] In traditional ankle joint rehabilitation training, for patients with severe ankle joint injuries, professional rehabilitation trainers are required to conduct corresponding active and passive training to help them repair the damaged muscle tissue and avoid sequelae. [0003] In the industrial development of the last century, the rope-driven parallel mechanism was mainly used in the hoisting of industrial containers, and its main research content was the analysis of positioning, working space and its overall stiffness. At present, the cable-actuated parallel mechanism has been maturely applied in many industrial engineering fields, but the theoretical analysis and control of some relatively complex cable-actuated parallel mechanisms are...

Claims

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Application Information

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IPC IPC(8): A61H1/02G05B19/042
CPCA61H1/0237A61H2201/50G05B19/0423
Inventor 张洪双贡一帆温慧滢张帆
Owner HOHAI UNIV CHANGZHOU
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