| Today,many people’s ankles lose their ankles’ athletic ability due to sprains or injuries during exercise.Rehabilitation robot assisted ankle joint rehabilitation training has become one of the main trends in the field of ankle joint rehabilitation research.At present,the rehabilitation robot is bulky and complex in structure,and it is difficult to meet the needs of rehabilitation training with multiple degrees of freedom of the ankle.In particular,it is impossible to carry out rehabilitation training in the clinic and/or home,and it is difficult to adapt to the future development of telemedicine and mobile medical care.To this end,this paper designs a six-degree-of-freedom ankle joint rehabilitation training robot that meets the needs of ankle rehabilitation in a safe and effective manner,while meeting the biokinetics and mechanics requirements of the ankle,and meets the needs and wishes of rehabilitation training in the clinic or at home.This paper mainly completes the following research contents:Firstly,according to the application scenarios,requirements and design goals of the ankle joint rehabilitation robot,the comprehensive evolution of the robot parallel mechanism configuration was carried out,and the STEWART mutation mechanism was designed.The mechanism principle and robot kinematics modeling analysis were carried out.According to the knowledge and theory of parallel robotics,the workspaces of the robot and the quantitative relationship with the geometric parameters of the robot are analyzed and simulated.The operability of the robot and the singularity and structural singularity of the robot are analyzed.The above analysis results show that the new STEWART mutation mechanism has good operability and motion performance,and its working space has a rib shape,enough working space to meet the needs of ankle rehabilitation training,and eliminates the structure by parallel mechanism geometric design and control method.This completes the three-dimensional structural model of the rehabilitation parallel robot.Secondly,based on the STEWART metamorphic type,the actual structural realization of the ankle joint rehabilitation training robot using a new coaxial hinge structure is proposed.The kinematics and static analysis methods of the new ankle rehabilitation training robot based on vector matrix and spiral theory are constructed to realize the kinematics and static analysis of the parallel mechanism.Thirdly,aiming at the real-time requirements of the inverse kinematics of the robot control,a method based on neural network and iterative algorithm for the inverse kinematics of the robot is proposed.The results show that the neural network and iterative calculation for error compensation can be used to recover the inverse kinematics of the parallel robot.Moreover,within 3,098 ms of the calculation time,after 3 iterations,the maximum error is only 0.836 μm.The results show that the algorithm has simple operation,good solution effect,less iterations,high calculation accuracy,and the calculation speed can meet the requirements of real-time robot control.Finally,according to the mechanical requirements of the ankle joint rehabilitation robot,the theoretical analysis and calculation of the robot statics were carried out.The results show that the designed ankle joint rehabilitation robot can bear at least 1270N on drive unit.In summary,the rehabilitation training robot developed in this paper maximizes the working space of the rehabilitation robot and minimizes the size of the rod under the premise of meeting the medical use conditions,and meets the requirements of miniaturization of the rehabilitation robot.And through the application of kinematics,statics analysis and calculation,and the inverse solution of robot based on neural network and iterative algorithm,the various parameters of the robot are analyzed and checked.The results show that the design of the rehabilitation robot meets the design requirements.Better rehabilitation in the clinic or at home. |
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