| 基于柔索驱动的踝关节康复机器人的研究 |
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| 引用本文： | 黄海灵,吴洪涛,陈柏. 基于柔索驱动的踝关节康复机器人的研究[J]. 中国制造业信息化, 2012, 41(3): 27-29,33 |
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| 作者姓名： | 黄海灵 吴洪涛 陈柏 |
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| 作者单位： | 南京航空航天大学机电学院,江苏南京,210016 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 根据人体踝关节的运动特点和柔索驱动并联机构的优势,提出了一种新型柔索驱动的3自由度并联机构踝关节康复机器人。采用封闭矢量四边形法则,建立了该机构的逆向运动学模型,并根据踝关节康复运动规律,对柔索驱动机器人进行了运动学仿真,得出驱动柔索长度变化规律,柔索长度变化的连续性证明了该机构的可操作性。
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| 关 键 词： | 踝关节康复机器人 柔索驱动 并联机构 运动学模型 运动学仿真 |
Research on Cable- driven Ankle Rehabilitation Robot |
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| HUANG Hai-ling , WU Hong-tao , CHEN Bai. Research on Cable- driven Ankle Rehabilitation Robot[J]. Manufacture Information Engineering of China, 2012, 41(3): 27-29,33 |
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| Authors: | HUANG Hai-ling WU Hong-tao CHEN Bai |
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| Affiliation: | (Nanjing University of Aeronautics and Astronautics,Jiangsu Nanjing,210016,China) |
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| Abstract: | Based on the human ankle’s movement characteristic and the superiority of the cable-driven method,it designs a 3 degree-of-freedom cable-driven parallel mechanism to realize the robot of the ankle rehabilitation.It establishes the kinematic model of the mechanism,uses the closed-vector quadrilateral method to build the inverse kinematic model of the parallel robot.Based on human ankle’s rehabilitative movements,it simuloates the kinematic of the cable-driven parallel robot,calculates the changes of the four cables’ length.The simulation result proves that the mechanism is actionability. |
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| Keywords: | Ankle Rehabilitative Robot Cable-driven Parallel Mechanism Kinematic Model Kinematic Simulation |
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