Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot
An adjustable swing foot rehabilitation robot is proposed. According to the mode of ankle motion and the distribution of acupoint， the whole structure of foot rehabilitation robot is designed， and the motion principle of swing adjustable transmission mechanism is mainly introduced. The inverse metho...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.01.009 |
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| _version_ | 1841547214062616576 |
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| author | Chen Peng Ligang Yao |
| author_facet | Chen Peng Ligang Yao |
| author_sort | Chen Peng |
| collection | DOAJ |
| description | An adjustable swing foot rehabilitation robot is proposed. According to the mode of ankle motion and the distribution of acupoint， the whole structure of foot rehabilitation robot is designed， and the motion principle of swing adjustable transmission mechanism is mainly introduced. The inverse method is used to calculate the transmission ratio， the coordinate transformation method is used to solve the kinematics solution of the pose of the pedal， and then the motion equation of the pedal attitude angle is obtained through the inverse solution analysis of the position. The kinematics simulation of virtual prototype is carried out by using SolidWorks software， and the comparison between the theoretical data and the simulation data of transmission ratio confirms the accuracy of theoretical analysis and safety of mechanism design. Finally， the key parameters of swing adjustment are analyzed. |
| format | Article |
| id | doaj-art-a90b943dfaba49eca6ec0d708762d3af |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-a90b943dfaba49eca6ec0d708762d3af2025-01-10T14:54:26ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-01-0145525829798737Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation RobotChen PengLigang YaoAn adjustable swing foot rehabilitation robot is proposed. According to the mode of ankle motion and the distribution of acupoint， the whole structure of foot rehabilitation robot is designed， and the motion principle of swing adjustable transmission mechanism is mainly introduced. The inverse method is used to calculate the transmission ratio， the coordinate transformation method is used to solve the kinematics solution of the pose of the pedal， and then the motion equation of the pedal attitude angle is obtained through the inverse solution analysis of the position. The kinematics simulation of virtual prototype is carried out by using SolidWorks software， and the comparison between the theoretical data and the simulation data of transmission ratio confirms the accuracy of theoretical analysis and safety of mechanism design. Finally， the key parameters of swing adjustment are analyzed.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.01.009Ankle rehabilitationKinematics analysisAdjustable swingFootplate massage |
| spellingShingle | Chen Peng Ligang Yao Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot Jixie chuandong Ankle rehabilitation Kinematics analysis Adjustable swing Footplate massage |
| title | Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot |
| title_full | Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot |
| title_fullStr | Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot |
| title_full_unstemmed | Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot |
| title_short | Structural Design and Kinematics Analysis of an Adjustable Swing Foot Rehabilitation Robot |
| title_sort | structural design and kinematics analysis of an adjustable swing foot rehabilitation robot |
| topic | Ankle rehabilitation Kinematics analysis Adjustable swing Footplate massage |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.01.009 |
| work_keys_str_mv | AT chenpeng structuraldesignandkinematicsanalysisofanadjustableswingfootrehabilitationrobot AT ligangyao structuraldesignandkinematicsanalysisofanadjustableswingfootrehabilitationrobot |