检索结果-内蒙古大学图书馆

Research Square 2021年

作者： Zhang, Jianjun Yang, Shuai Liu, Chenglei Wang, Xiaohui Guo, Shijie School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Hebei Province Key Laboratory of Robot Perception and Human-Machine Fusion Tianjin300130 China

The kinematic equivalent model of the existing ankle rehabilitation robot is inconsistent with the anatomy structure of the human ankle, which will influence the rehabilitation effect. Therefore, this paper equivalent the human ankle to the UR model and proposes a novel 3-DOF generalized spherical parallel mechanism for ankle rehabilitation. The parallel mechanism has two spherical centers corresponding to the rotation center of the tibiotalar joint and subtalar joint. Via screw theory, the mobility of the parallel mechanism is analyzed, which meets the requirement of the human ankle. Its inverse kinematics is presented and singularities are identified based on the Jacobian matrix. The workspaces of the parallel mechanism are obtained by the search method and compared with the motion range of the human ankle, which shows that the parallel mechanism could meet the motion demand of ankle rehabilitation. In addition, on the basis of the motion/force transmissibility, the performance atlases are plotted in the parameter optimal design space and the optimum region is obtained according to the demands of practical application. The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and have excellent kinematic performance in its rehabilitation range, which provides a theoretical basis for the prototype design and experiment verification. © 2021, CC BY.

关键词： Inverse problems

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Grassmann Line Geometry Based Configuration Synthesis of Equivalent Uu Parallel Mechanisms with Two Virtual Center-of-Motion

SSRN

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SSRN 2022年

作者： Wei, Jun Yu, Bin Liu, Chenglei Song, Jingke Zhang, Jianjun School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center Ministry of Education Tianjin300130 China Key Laboratory of Robot Perception and Human–Machine Fusion Hebei Province Tianjin300130 China

This paper investigates a class of equivalent UU parallel mechanisms with two virtual center-of-motions (VCMs) in terms of the Grassmann line geometry principle, which its configuration synthesis is carried out by using geometric characteristics of the equivalent UU model. First, the equivalent UU model is proposed concerning the analysis of ankle rehabilitation and the ankle UU model, which three geometric characteristics and four classes of motion and constraint characteristics of the equivalent UU model are given. Second, the motion principle of equivalent UU parallel mechanism is proposed with respects to the characteristics of motion and constraint, which provides a theoretical method for configurable synthesis. Third, a series of constraint limbs satisfying the motion and constraint characteristics of equivalent UU parallel mechanism are synthesized by using the constraint screw synthesis method in terms of the screw theory and Grassmann line geometry principle. Finally, the concept of multiset is introduced into mechanism synthesis, and a series of equivalent UU parallel mechanisms are synthesized based on the method of constraint screw multiset. © 2022, The Authors. All rights reserved.

关键词： Screws

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