摘要
对踝关节功能损伤的患者,尤其是中风患者来讲,踝关节的康复是一项非常困难的问题。针对此提出一种新型并联式解耦踝关节康复机构,并基于中医康复疗法引入踝关节康复机构需要注重牵引功能的设计思路。所提出的机构能够同时实现单独转动康复(背屈、跖屈,外展、内收)和在牵引下转动的康复过程;利用螺旋理论分析机构在任意位姿下的自由度性质;推导出机构位置正反解,求解速度雅可比矩阵,并对机构进行奇异性分析;通过输出参数对解耦机构杆件尺寸进行优化,基于遗传算法给出数值算例,验证了机构工作空间满足踝关节康复运动的要求。
For the patients who are suffering the ankle injuries especially for the hemiplegic after stroke, the ankle rehabilitation is one of the very difficult problems. A novel decoupled parallel mechanism used for ankle rehabilitation is presented alming at this background. Based on the tractive therapy of traditional Chinese medicine, the design idea that more attention should be pald on the traction function for ankle rehabilitative mechanism is introduced. Independent rotational rehabilitation, including dorsiflexion, plantarflexion, abduction and adduction, and rotational rehabilitation under the traction can be realized by the proposed mechanism simultaneously. By using the screw theory, the character of the degrees of freedom of the mechanism at arbitrary pose is analyzed. The forward and inverse position solutions of the mechanism are derived out, the velocity Jacobian matrix is solved, and the singularity analysis is performed. The optimization for the size of the decoupled mechanism is performed through the output parameters, and the numerical example is given based genetic algorithm, which verifies the workspace of the mechanism satisfying the requirements of the ankle rehabilitation movement.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2015年第9期1-9,共9页
Journal of Mechanical Engineering
基金
国家自然科学基金资助项目(51005195
51205339)
关键词
踝关节康复
并联机构
解耦
尺寸优化
ankle rehabilitation
parallel mechanism
decoupled
size optimization
