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Design Of System Of Parallel Ankle Rehabilitation Device

Posted on:2007-02-19Degree:MasterType:Thesis
Country:ChinaCandidate:H B YuFull Text:PDF
GTID:2178360182483068Subject:Mechanical and electrical engineering
Abstract/Summary:PDF Full Text Request
The aim of this paper is to develop a new ankle rehabilitation robot system.According to the need of ankle rehabilitation and related knowledge of medicine,we analyze the harm, the composition, the mechanism, the treatment and therehabilitation method of ankle in detail. Then we carry on research on themechanism, kinematics and control system of ankle rehabilitation robot.Firstly, we analyze the harm of ankle and build the model of rehabilitationmovement according to the related knowledge of medicine. And we introducesome rehabilitation devices used for ankle rehabilitation movement training. Atpresent most rehabilitation devices can only imitate one or two DOF anklerehabilitation movement. So this paper proposes two kinds of 3 DOF parallelrehabilitation mechanisms, including 3-RSS/S parallel mechanism and 3-SPS/Sparallel mechanism. They can realize 3 DOF ankle rehabilitation movements.Secondly, this paper analyzes the characteristics of the two mechanismsand describes their workspace. We further analyze the kinematics according tothe curves of ankle rehabilitation training. We analyze the inverse formulation ofposition and the forward and inverse formulation of velocity of 3-RSS/Smechanism. And we mainly analyze the forward and inverse formulation ofposition, velocity and acceleration of 3-SPS/S mechanism, and build the firstorder and second order influence coefficient matrixes.At last, after comparing traditional movement control method with popularone, we propose the control method for ankle rehabilitation robot system, andanalyze and design it.
Keywords/Search Tags:The ankle rehabilitation robot, 3-RSS/S parallel mechanism, 3-SPS/S parallel mechanism, Workspace, The forward and inverse formulation of position, Control system
PDF Full Text Request
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