Series-parallel spherical mechanism for wrist joint rehabilitation
A spherical mechanism and wrist joint technology, applied in the field of rehabilitation robots, can solve the problems of large motion inertia of the mechanism, large volume and weight of the mechanism, and large difference in dexterity of the spherical mechanism, so as to achieve the improvement of dexterity, the reduction of volume and weight, and the movement The effect of inertia reduction
Pending Publication Date: 2021-04-09
CIXI INST OF BIOMEDICAL ENG NINGBO INST OF MATERIALS TECH & ENG CHINESE ACAD OF SCI +1
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Problems solved by technology
[0003] Most of the existing spherical mechanisms for wrist rehabilitation training use a series-type three-degree-of-freedom concentric mechanism. The advantage of this form of mechanism is that it has a larger working space, but there are singular points in the working space, and the spherical surface at each point in the working space The dexterity of the mechanism varies greatly; the serial topological characteristics of the mechanism make the whole mechanism larger in size and weight, and the movement inertia of the mechanism is larger, making it difficult to control compliance during rehabilitation training
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[0017] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0018] Such as Figure 1-3 As shown, this embodiment relates to a hybrid spherical mechanism for wrist joint rehabilitation, including a parallel mechanism 1, a distal center rotation mechanism 2 and a support arm 3, and the parallel mechanism 1 includes a static platform 4, a branch chain link and a dynamic platform 10. The support arm 3 is set on the moving platform 10, the distal central rotation mechanism 2 is set on the moving platform 10 on the side away from the support arm 3, and the branch chain connecting rod 7 is circumferentially symmetrically arranged between the static platform 4 and the moving platform 10 between.
[0019] Among them, the static platform 4 is provided with a plurality of branch chain first articulated pairs 5, and the moving platform 10 is provided with a plurality of branch chain fourth articulated pairs 9, and the branc...
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The invention discloses a series-parallel spherical mechanism comprises a parallel mechanism, a far-end center rotating mechanism and a supporting arm, wherein the parallel mechanism comprises a static platform, branched chain connecting rods and a movable platform, the supporting arm is arranged on the movable platform, the far-end center rotating mechanism is connected to the movable platform in series, the rotating center of the far-end center rotating mechanism passes through a wrist center, and the branch chain connecting rods are symmetrically arranged in the circumferential direction and connected with the static platform and the movable platform. A two-degree-of-freedom parallel mechanism is combined with the far-end center rotating mechanism, three-degree-of-freedom spherical motion can be achieved, the operation flexibility of the mechanism can be improved, the motion inertia is reduced, and the size is reduced.
Description
technical field [0001] The invention relates to the field of rehabilitation robots, in particular to a hybrid spherical mechanism for wrist joint rehabilitation. Background technique [0002] For neurodegenerative diseases such as stroke and Parkinson's, the use of robot-assisted upper limb exercise rehabilitation has a rehabilitation effect that is not inferior to that of rehabilitation physicians, and can replace most of the heavy and repetitive work of physicians. The complexity of the human wrist joint is second only to the shoulder joint in the upper limbs of the human body. Repeated training of the wrist joint can reshape the damaged nerves of patients with neurodegenerative diseases, which is of great significance to their rehabilitation. From the analysis of physiological characteristics, the human wrist joint can be equivalent to a spherical mechanism, so the wrist joint rehabilitation mechanism must be kinematically compatible with the human wrist joint, that is, a...
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IPC IPC(8): A61H1/02
CPCA61H1/0285A61H2201/1659A61H2201/1207A61H2201/1238A61H2205/065
Inventor伏荣真左国坤施长城杨茗予宋涛
OwnerCIXI INST OF BIOMEDICAL ENG NINGBO INST OF MATERIALS TECH & ENG CHINESE ACAD OF SCI