Decoupling foot joint care robot and a complete decoupling parallel connection mechanism

摘要

The present invention relates toThe body consists of a symmetric parallel connection mechanismA three wheeled mobile decoupling foot joint care robotBaseMobile platformFoot pedalAndIncludes three branches connecting the base and the mobile platformThree branchesThe first branch is PRR branchThe second branch and the third branchBothIs a cprr branch that is symmetrically distributed to the base bottomFoot pedal and movable platformForm a series of branching branchesThe whole mechanism becomes a 3R1T mechanismProvide a three wheeled mobile decoupling foot joint care robot.Further, the present invention includes a base, a movable platform, and three branches, wherein the first and second branches are PRR branches, the third branch is a cab branch, and the three branches can achieve complete decoupling by the motion kinematic pair Provides a symmetric two turn one transfer full decoupling parallel connection mechanism.The mechanism of the present invention is a decoupling mechanism for kinematics, and it is possible to realize the motion of the ankle joint individually by controlling different branches, and to increase the accuracy of the control, because there is a symmetry and the motion kinematic pair of the branch is small. The structure is compact and stable.Diagram