Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism
A 2-DOF spatial 8R parallel mechanism is proposed for hip joint rehabilitation. The model of spatial 8R parallel mechanism is established， and the initial configuration and general configuration of the mechanism are analyzed by using screw theory. The geometric model and kinematics equations of the...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-02-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.005 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841548864330399744 |
|---|---|
| author | Zengyu Jia Ruiqin Li Xiang Li |
| author_facet | Zengyu Jia Ruiqin Li Xiang Li |
| author_sort | Zengyu Jia |
| collection | DOAJ |
| description | A 2-DOF spatial 8R parallel mechanism is proposed for hip joint rehabilitation. The model of spatial 8R parallel mechanism is established， and the initial configuration and general configuration of the mechanism are analyzed by using screw theory. The geometric model and kinematics equations of the spatial 8R parallel mechanism are established by D-H method， and the kinematics equations of the mechanism are obtained. The correctness of the kinematics equation of the spatial 8R parallel mechanism is verified by Adams software and theoretical calculation， and the variation law of the angular displacement of the mechanism in one period under different motions is obtained. This spatial 8R parallel mechanism has stable performance and can carry out smooth movement， which can effectively improve the rehabilitation effect of hip joint. |
| format | Article |
| id | doaj-art-d7d934465bac4a8c88d338bbd4e5b667 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-d7d934465bac4a8c88d338bbd4e5b6672025-01-10T13:59:39ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-02-0146283330481800Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel MechanismZengyu JiaRuiqin LiXiang LiA 2-DOF spatial 8R parallel mechanism is proposed for hip joint rehabilitation. The model of spatial 8R parallel mechanism is established， and the initial configuration and general configuration of the mechanism are analyzed by using screw theory. The geometric model and kinematics equations of the spatial 8R parallel mechanism are established by D-H method， and the kinematics equations of the mechanism are obtained. The correctness of the kinematics equation of the spatial 8R parallel mechanism is verified by Adams software and theoretical calculation， and the variation law of the angular displacement of the mechanism in one period under different motions is obtained. This spatial 8R parallel mechanism has stable performance and can carry out smooth movement， which can effectively improve the rehabilitation effect of hip joint.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.0058R parallel mechanismHip jointScrew theoryD-H methodKinematics |
| spellingShingle | Zengyu Jia Ruiqin Li Xiang Li Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism Jixie chuandong 8R parallel mechanism Hip joint Screw theory D-H method Kinematics |
| title | Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism |
| title_full | Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism |
| title_fullStr | Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism |
| title_full_unstemmed | Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism |
| title_short | Kinematics Analysis of Spatial 8R Hip Joint Rehabilitation Parallel Mechanism |
| title_sort | kinematics analysis of spatial 8r hip joint rehabilitation parallel mechanism |
| topic | 8R parallel mechanism Hip joint Screw theory D-H method Kinematics |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.005 |
| work_keys_str_mv | AT zengyujia kinematicsanalysisofspatial8rhipjointrehabilitationparallelmechanism AT ruiqinli kinematicsanalysisofspatial8rhipjointrehabilitationparallelmechanism AT xiangli kinematicsanalysisofspatial8rhipjointrehabilitationparallelmechanism |