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Three-branch two-rotation ankle joint rehabilitation parallel robot mechanism

An ankle joint, three-branch technology, applied in passive exercise equipment, manipulators, program-controlled manipulators, etc., can solve problems such as strong coupling and complex solutions, achieve high flexibility, simple control design, improved accuracy and uncontrollable effect of error

Pending Publication Date: 2021-05-11
HENAN UNIV OF SCI & TECH
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Problems solved by technology

For example, the Chinese patent with application number CN201610028816.4 discloses a parallel mechanism for ankle joint rehabilitation with an active branch chain inclined arrangement; the Chinese patent with application number CN201710962288.4 discloses a three-degree-of-freedom parallel mechanism ankle joint rehabilitation device, but For the research of general parallel mechanisms, there are still problems such as strong coupling and complex kinematics and dynamics problems.

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  • Three-branch two-rotation ankle joint rehabilitation parallel robot mechanism

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Embodiment Construction

[0025] The technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments. Apparently, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0026] The "first" and "second" mentioned in the present invention are not to limit the quantity of corresponding technical features, but are names for distinguishing related technical features.

[0027] A parallel robot mechanism for ankle joint rehabilitation with three branches and two rotations, please refer to figure 1 , the parallel robot mechanism includes:

[0028] Set platform P1;

[0029] The moving platform P2, the moving platform P2 is set above the fixed platform P1 and its cross-section is rectang...

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Abstract

The invention discloses a three-branch two-rotation ankle joint rehabilitation parallel robot mechanism. The ankle joint rehabilitation parallel robot mechanism comprises a movable platform, a fixed platform, two driving branch chains and an exact constraint branch chain. The two driving branch chains have the same kinematic chain structure composed of a parallelogram structure, a rotating pair and a universal hinge. The parallelogram structure comprises two rotating pairs with parallel axes and two universal hinges. The exact constraint branch chain is formed by connecting two rotating pairs with vertical axes in series. One end of a third universal hinge of the first driving branch chain is connected with the exact constraint branch chain, and one end of a sixth universal hinge of the second driving branch chain is connected with the movable platform. The speed Jacobian matrix of the parallel robot mechanism is a diagonal matrix, and the one-to-one control relation between input motion and output motion of the mechanism is achieved.

Description

technical field [0001] The invention relates to the field of rehabilitation robot space mechanism, in particular to a three-branch and two-rotation ankle joint rehabilitation parallel robot mechanism. Background technique [0002] Ankle joint sprain is a relatively common sports injury in orthopedic clinics, and the ankle joint is an important hub and load-bearing joint for human movement. If this situation occurs, if effective treatment and rehabilitation training are not received in time, it is easy to cause joint instability and repeated injuries to the ankle joint. In severe cases, the patient will permanently lose the ability to walk normally, which is very important for rehabilitation training of the ankle joint. The research on ankle joint rehabilitation robots began in the 1990s. In the field of hemiplegia rehabilitation, rehabilitation training by traditional physical therapists will be replaced by ankle joint rehabilitation robots. Research on ankle joint rehabilit...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02B25J9/00
CPCA61H1/0266A61H2201/1207A61H2201/1642B25J9/0045
Inventor 张彦斌魏雪敏许泽华王继文芦风林王科峰王科明
Owner HENAN UNIV OF SCI & TECH
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