| 并联式髋关节康复机构设计及分析 |
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| 引用本文： | 宋利平,王强,周平,张诗德.并联式髋关节康复机构设计及分析[J].西华大学学报(自然科学版),2013(3):77-80. |
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| 作者姓名： | 宋利平 王强 周平 张诗德 |
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| 作者单位： | 西华大学机械工程与自动化学院 |
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| 基金项目： | 教育部“春晖计划”项目(10202257);西华大学创新基金(ycjj201281和ycjj201282) |
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| 摘 要： | 在分析人体髋关节的结构特点和运动机制的基础上,提出采用一种3-UPU空间并联结构来设计髋关节的康复机构。基于旋量理论,对该机构的自由度进行了计算,同时对该机构动平台的位置和速度进行了分析和计算。该并联机构具有3个转动自由度且满足转动轴线交于一点,可用于实现髋关节3个转动自由度的康复训练。该分析为下一步的机构奇异分析和运动空间分析打下了基础,同时为并联机构的研究提供了新的思路。
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| 关 键 词： | 髋关节 并联机构 旋量理论 3-UPU空间并联结构 |
Design and Analysis of Hip Joint Parallel Rehabilitation Mechanism |
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| SONG Li-ping,WANG Qiang,ZHOU Ping,ZHANG Shi-de.Design and Analysis of Hip Joint Parallel Rehabilitation Mechanism[J].Journal of Xihua University:Natural Science Edition,2013(3):77-80. |
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| Authors: | SONG Li-ping WANG Qiang ZHOU Ping ZHANG Shi-de |
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| Affiliation: | (School of Mechanical Engineering and Automation,Xihua University,Chengdu 610039 China) |
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| Abstract: | Based on the structural characteristics and movement mechanism of hip joint, a 3-UPU spatial parallel mechanism was adopted to implement the rehabilitation of hip joint. The. DOF of this mechanism was qualitatively calculated based on screw theory. And the position and velocity of moving platform was analyzed. The parallel mechanism had three rotational DOF, and the rotation axes intersected at one point. So it could be used to implement the three rotational DOF of hip joint. This article laid the foundation for the next singularity analysis and motion space analysis of the mechanism, and provided a new way for the study of parallel mechanism. |
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| Keywords: | hip joint parallel mechanism screw theory 3 - UPU spatial paralled mechanism |
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