| The Ankle joint is a junction of human body contacting the ground, and also bears a heavy burden of the body. Injury of the ankle joint is a common osteoarticular injury. The improper rehabilitation treatment will cause various sequelae, which can bring a bad effect on one's life. At present, most products for ankle rehabilitation are single-functional instruments, the false use of which may cause more injuries. The study of ankle rehabilitation robot has been conducted in and out of china. In this paper, the following work is included:First, a profound research has been made into the anatomical structure of an ankle, mechanism of injury and form of movement, from which the basic requirements for an ankle rehabilitation robot is put forward. With the structural characteristics of the ankle joint, four kinds of ankle rehabilitation training model are described. Through analyzing the characteristics of typical parallel mechanism, the paper presents a 3-RUPUR/RU parallel mechanism to use for ankle rehabilitation training.Second, the inverse kinematics of the 3-RUPUR/RU parallel mechanism is gained by use of a simple geometric method, and the positive kinematics is solved by numerical method. In addition, the torque Jacobian is derived based on the speed Jacobian of the parallel mechanism, which laid the foundation for motor selection and control system design in the follow work.Third, according to determined structural parameters, the entity model is built by using UG software, and carried on the kinematics simulation in the ADAMS environment, which avoid the complex deduction about formulas, and has the intuitive analysis process. The simulation result proved the correctness and reasonable of the robot design.Finally, the paper fulfilled the structural design and parameter selection of the 3-RUPUR/RU ankle rehabilitation parallel robot. The RU joint is adopted to connect the fix platform and movable platform, and the design of Hook joint is completed. A new guide screw connected by distributed-assemble motor is design with compact structure, good symmetry, small inertia and high control accuracy. |
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