Design and Motion Performance Analysis of 2URR-SRR-RUPUR Parallel Leg Rehabilitation Robot Mechanism
Based on the mechanism of leg joint rehabilitation， a 2URR-SRR-RUPUR four-degree-of-freedom parallel leg rehabilitation robot is proposed， which can realize the abduction and adduction of ankle joint， flexion and extension of knee joint， hip joint abduction and adduction movements and leg stretching...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.014 |
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| _version_ | 1841547255340859392 |
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| author | Zenglin Ye Liang'an Zhang Hua Chen Hao Wu |
| author_facet | Zenglin Ye Liang'an Zhang Hua Chen Hao Wu |
| author_sort | Zenglin Ye |
| collection | DOAJ |
| description | Based on the mechanism of leg joint rehabilitation， a 2URR-SRR-RUPUR four-degree-of-freedom parallel leg rehabilitation robot is proposed， which can realize the abduction and adduction of ankle joint， flexion and extension of knee joint， hip joint abduction and adduction movements and leg stretching movements. Based on the spiral theory， the constrained spiral system and the degree of freedom properties of the mechanism in the general configuration and the initial configuration are analyzed. The kinematics model of the 2URR-SRR-RUPUR parallel mechanism is established. The closed-loop vector method is used to solve the inverse kinematics of the mechanism and the velocity Jacobian matrix of the mechanism is analyzed. On this basis， the working space and singularity of the mechanism are studied， the workspace map and singularity configuration of the mechanism are obtained. The trajectory planning of the mechanism is based on the rehabilitation path of leg joints， and the planning results are analyzed by SolidWorks Motion software. The simulation results show that the movement of the mechanism is continuous and smooth， suitable for leg rehabilitation training and has good application potential. |
| format | Article |
| id | doaj-art-a516083349a24c66abad083a766703d6 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-a516083349a24c66abad083a766703d62025-01-10T14:53:56ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-03-014582897492638Design and Motion Performance Analysis of 2URR-SRR-RUPUR Parallel Leg Rehabilitation Robot MechanismZenglin YeLiang'an ZhangHua ChenHao WuBased on the mechanism of leg joint rehabilitation， a 2URR-SRR-RUPUR four-degree-of-freedom parallel leg rehabilitation robot is proposed， which can realize the abduction and adduction of ankle joint， flexion and extension of knee joint， hip joint abduction and adduction movements and leg stretching movements. Based on the spiral theory， the constrained spiral system and the degree of freedom properties of the mechanism in the general configuration and the initial configuration are analyzed. The kinematics model of the 2URR-SRR-RUPUR parallel mechanism is established. The closed-loop vector method is used to solve the inverse kinematics of the mechanism and the velocity Jacobian matrix of the mechanism is analyzed. On this basis， the working space and singularity of the mechanism are studied， the workspace map and singularity configuration of the mechanism are obtained. The trajectory planning of the mechanism is based on the rehabilitation path of leg joints， and the planning results are analyzed by SolidWorks Motion software. The simulation results show that the movement of the mechanism is continuous and smooth， suitable for leg rehabilitation training and has good application potential.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.014Leg rehabilitation parallel mechanismDegree of freedomSpiral theoryInverse kinematicsSingularity analysisMotion simulation |
| spellingShingle | Zenglin Ye Liang'an Zhang Hua Chen Hao Wu Design and Motion Performance Analysis of 2URR-SRR-RUPUR Parallel Leg Rehabilitation Robot Mechanism Jixie chuandong Leg rehabilitation parallel mechanism Degree of freedom Spiral theory Inverse kinematics Singularity analysis Motion simulation |
| title | Design and Motion Performance Analysis of 2URR-SRR-RUPUR Parallel Leg Rehabilitation Robot Mechanism |
| title_full | Design and Motion Performance Analysis of 2URR-SRR-RUPUR Parallel Leg Rehabilitation Robot Mechanism |
| title_fullStr | Design and Motion Performance Analysis of 2URR-SRR-RUPUR Parallel Leg Rehabilitation Robot Mechanism |
| title_full_unstemmed | Design and Motion Performance Analysis of 2URR-SRR-RUPUR Parallel Leg Rehabilitation Robot Mechanism |
| title_short | Design and Motion Performance Analysis of 2URR-SRR-RUPUR Parallel Leg Rehabilitation Robot Mechanism |
| title_sort | design and motion performance analysis of 2urr srr rupur parallel leg rehabilitation robot mechanism |
| topic | Leg rehabilitation parallel mechanism Degree of freedom Spiral theory Inverse kinematics Singularity analysis Motion simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.014 |
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