| Ankle injury is one of the most common injuries in sports and daily active life, and reasonable physiotherapy is required to achieve rehabilitation. Based on the analysis of the mechanisms of existing robots for rehabilitation, a novel parallel mechanism with remote centre is presented and some mechanism characters are studied. Based on the ergonomics, the mechanical structure of the robot for rehabilitation is designed and the prototype is made.Firstly, the structure and motion of ankle are analysed, and the bionic model of ankle is made based on the study of anatomy, clinical medicine and rehabilitation medicine and rehabilitation. According to the need of ankle rehabilitation a new parallel rehabilitation mechanism is presented. The degree of freedom and the selection of the actuated joints of the mechanism are discussed. The mechanism can perform three rotations around the remote centre and meet the demand of ankle joint rehabilitation.Secondly, the kinematics of the mechanism is discussed. The forward and inverse position kinematics solutions of the mechanism and corresponding numerical examples are given based on spherical trigonometry. The workspace of the parallel mechanism according to different mechanism parameters is discussed. And then, based on kinematic influence coefficient theory, the velocity and acceleration are analyzed. Further, the curve about the driving units'velocity and acceleration during three basic types of rehabilitation motion.Finally, the statics of the robot for ankle rehabilitation is discussed. Based on the ergonomics, the mechanical structure of the robot is designed and the prototype is made. |
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