Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle
According to the physiological characteristics of human ankle and parallel mechanism， several 0T3R parallel mechanisms are synthesized based on the Position and Orientation Characteristics （POC） set by taking the Single-Opened Chain （SOC） as the unit. Then combined with the characteristics of human...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2019-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.03.014 |
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| _version_ | 1841548754882134016 |
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| author | Shaoshuai Li Yufeng Luo Zhixin Shi Dongfu Xie Zhenkun Liu |
| author_facet | Shaoshuai Li Yufeng Luo Zhixin Shi Dongfu Xie Zhenkun Liu |
| author_sort | Shaoshuai Li |
| collection | DOAJ |
| description | According to the physiological characteristics of human ankle and parallel mechanism， several 0T3R parallel mechanisms are synthesized based on the Position and Orientation Characteristics （POC） set by taking the Single-Opened Chain （SOC） as the unit. Then combined with the characteristics of human ankle， one of the 0T3R parallel mechanisms is selected， and its kinematics analysis is carried out. Based on the established inverse displacement solution equation and by using the Matlab， the data solving is carried out. Finally， the obtained data is used as the driving function to simulate the mechanism in Adams. The simulation results verify the feasibility of the parallel mechanism， and a theoretical basis for the subsequent optimization design of mechanism size is provided. |
| format | Article |
| id | doaj-art-0b9bdc1ee8a44b8db48e8931e1202ca5 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-0b9bdc1ee8a44b8db48e8931e1202ca52025-01-10T14:01:38ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-03-0143768230640377Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of AnkleShaoshuai LiYufeng LuoZhixin ShiDongfu XieZhenkun LiuAccording to the physiological characteristics of human ankle and parallel mechanism， several 0T3R parallel mechanisms are synthesized based on the Position and Orientation Characteristics （POC） set by taking the Single-Opened Chain （SOC） as the unit. Then combined with the characteristics of human ankle， one of the 0T3R parallel mechanisms is selected， and its kinematics analysis is carried out. Based on the established inverse displacement solution equation and by using the Matlab， the data solving is carried out. Finally， the obtained data is used as the driving function to simulate the mechanism in Adams. The simulation results verify the feasibility of the parallel mechanism， and a theoretical basis for the subsequent optimization design of mechanism size is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.03.014Rehabilitation robotAnkle jointParallel mechanismPOC setKinematics analysisSimulation |
| spellingShingle | Shaoshuai Li Yufeng Luo Zhixin Shi Dongfu Xie Zhenkun Liu Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle Jixie chuandong Rehabilitation robot Ankle joint Parallel mechanism POC set Kinematics analysis Simulation |
| title | Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle |
| title_full | Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle |
| title_fullStr | Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle |
| title_full_unstemmed | Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle |
| title_short | Optimal Type Selection and Simulation Analysis of 0T3R Parallel Mechanism based on the Motion Characteristic of Ankle |
| title_sort | optimal type selection and simulation analysis of 0t3r parallel mechanism based on the motion characteristic of ankle |
| topic | Rehabilitation robot Ankle joint Parallel mechanism POC set Kinematics analysis Simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.03.014 |
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