并联3-RRRPP踝关节康复机构的设计与分析

摘要

The paper analyses a 3-RRRPP parallel Robot mechanism for ankle rehabilitation, sums up its structural characteristics, and gives out its degree of freedom on the basis of screw theory and determins the non-overconstrained parallel mechanism with the ankle as the 3D rotational movement centre, and then, derives the inverse kinematics from the coordinate transformation method and uses ADAMS software to do its simulation and verifies its correctness. It meets the requirements of the ankle rehabilitation.%分析了一种3-RRRPP新型踝关节康复并联机器人机构.综合了该并联机构的结构特性,基于螺旋理论对机构的自由度进行计算,确定其为具有三维转动自由度且转动中心与人体踝关节中心重合的无过约束机构;并基于坐标变换法对机构位置逆解进行分析,利用ADAMS软件进行仿真,验证其正确性;再对其工作空间进行分析,验证其满足踝关节康复训练的需求.