| 踝关节康复训练并联机构构型及其运动学分析 |
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| 引用本文： | 刘更谦,高金莲,杨四新,何春燕,张小俊. 踝关节康复训练并联机构构型及其运动学分析[J]. 机电产品开发与创新, 2005, 18(5): 13-15 |
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| 作者姓名： | 刘更谦 高金莲 杨四新 何春燕 张小俊 |
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| 作者单位： | 1. 河北工业大学,机械学院,天津,300130
2. 邢台机械轧辊(集团)有限公司,河北,邢台,054025 |
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| 摘 要： | 在分析踝关节结构及运动方式的基础上,提出了一种3-RSS/S并联机器人方案用于踝关节康复治疗,并对其进行了位置逆解分析,得出了雅可比矩阵,为该机构的进一步分析、研发奠定了理论基础。
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| 关 键 词： | 踝关节康复 并联机构 运动学分析 位置逆解 |
| 文章编号： | 1002-6673（2005）05-013-03 |
| 收稿时间： | 2005-06-15 |
| 修稿时间： | 2005-06-15 |
The Configuration of the Ankle Rehabilitation Exercises Parallel Mechanism and its Kinematics Analysis |
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| LIU Geng-Qian,GAO Jin-Liang,YANG Si-Xin,HE Chun-Yan,ZHANG Xiao-Jun. The Configuration of the Ankle Rehabilitation Exercises Parallel Mechanism and its Kinematics Analysis[J]. Development & Innovation of Machinery & Electrical Products, 2005, 18(5): 13-15 |
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| Authors: | LIU Geng-Qian GAO Jin-Liang YANG Si-Xin HE Chun-Yan ZHANG Xiao-Jun |
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| Affiliation: | LIU Geng-Qian, GAO Jin-Liang, YANG Si-Xin, HE Chun-Yan, ZHANG Xiao-Jun Corporation Xingtai Hebei 054025, China) |
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| Abstract: | Based on the analysis of the structure and motion mode of anklebone, a 3-RSS/S parallel robot was proposed for anklebone rehabilitation exercises in this paper. A converse solution of positions were analyzed ,and get a Jacobian matrix.This algorithm is simple and ease for the robot to implement real time control, and provide the theory support for the structure to be further analyzed and developed. |
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| Keywords: | anklebone rehabilitation exercises parallel mechanism kinematics analysis inverse solution of positions |
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