Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism
Aiming at the wrist movement dysfunction and rehabilitation training problems of stroke patients，a wrist rehabilitation device based on a coaxial spherical parallel 3RRR mechanism is proposed. The device is driven by three motors，and the end effector can realize spherical motion to simulate the thre...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-10-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.10.025 |
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| _version_ | 1841547361209286656 |
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| author | Shuaixu Ji Yongguo Liang Huimin Hao Li'na Li Jiahai Huang |
| author_facet | Shuaixu Ji Yongguo Liang Huimin Hao Li'na Li Jiahai Huang |
| author_sort | Shuaixu Ji |
| collection | DOAJ |
| description | Aiming at the wrist movement dysfunction and rehabilitation training problems of stroke patients，a wrist rehabilitation device based on a coaxial spherical parallel 3RRR mechanism is proposed. The device is driven by three motors，and the end effector can realize spherical motion to simulate the three-degree-of-freedom compound motion of the wrist and realize wrist rehabilitation training. In order to achieve the purpose of compact design，a design scheme of three-axis coaxial spherical parallel mechanism and synchronous belt transmission is adopted. On this basis，the inverse kinematics mathematical model of the wrist rehabilitation device is established，and the relationship between the motor input angle and the output pose of the robot end is obtained，and the robot working space is determined，the maximum angle of rotation around the <italic>X</italic> axis is 32°，the maximum angle of rotation around the <italic>Y</italic> axis is 37°，and the full rotation around the <italic>Z</italic> axis. Finally，an experimental prototype is processed for experimental verification. The experimental results show that the device runs smoothly and there is no jamming in the working space. |
| format | Article |
| id | doaj-art-b7779333d5654931a65cd01e3a85f458 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-10-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b7779333d5654931a65cd01e3a85f4582025-01-10T14:47:35ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-10-014515716319864074Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR MechanismShuaixu JiYongguo LiangHuimin HaoLi'na LiJiahai HuangAiming at the wrist movement dysfunction and rehabilitation training problems of stroke patients，a wrist rehabilitation device based on a coaxial spherical parallel 3RRR mechanism is proposed. The device is driven by three motors，and the end effector can realize spherical motion to simulate the three-degree-of-freedom compound motion of the wrist and realize wrist rehabilitation training. In order to achieve the purpose of compact design，a design scheme of three-axis coaxial spherical parallel mechanism and synchronous belt transmission is adopted. On this basis，the inverse kinematics mathematical model of the wrist rehabilitation device is established，and the relationship between the motor input angle and the output pose of the robot end is obtained，and the robot working space is determined，the maximum angle of rotation around the <italic>X</italic> axis is 32°，the maximum angle of rotation around the <italic>Y</italic> axis is 37°，and the full rotation around the <italic>Z</italic> axis. Finally，an experimental prototype is processed for experimental verification. The experimental results show that the device runs smoothly and there is no jamming in the working space.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.10.025Wrist rehabilitation deviceStructural designKinematics analysis |
| spellingShingle | Shuaixu Ji Yongguo Liang Huimin Hao Li'na Li Jiahai Huang Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism Jixie chuandong Wrist rehabilitation device Structural design Kinematics analysis |
| title | Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism |
| title_full | Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism |
| title_fullStr | Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism |
| title_full_unstemmed | Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism |
| title_short | Development of Wrist Rehabilitation Device based on Coaxial Spherical Parallel 3RRR Mechanism |
| title_sort | development of wrist rehabilitation device based on coaxial spherical parallel 3rrr mechanism |
| topic | Wrist rehabilitation device Structural design Kinematics analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.10.025 |
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