Study On A New Type Of Ankle Rehabilitation Robot Mechanism

In this paper,the ankle joint rehabilitation robot is designed based on the parallel mechanism with few degrees of freedom.Based on the introduction of the human ankle joint medical structure and the current common less freedom parallel mechanism,this paper designs a human ankle joint rehabilitation mechanism based on 3-SPS/S parallel mechanism,and solved the problems of kinematics calculation,dynamics calculation,workspace analysis and motion simulation.First of all,this paper describes the present situation of a variety of ankle joint injury,ankle joint injury occurred in athletes and aging population.This paper illustrates the current domestic and foreign various ankle rehabilitation equipment and cutting-edge research status,and explains the advantages of less freedom in parallel mechanism and its application in rehabilitation.Secondly,this paper analyzes the basic structure of lower limb ankle parts of the body,mainly including medical structure and motion of the human ankle function,designs a human ankle joint rehabilitation training robot on the basis of its structure,proposes the ankle rehabilitation robot,and puts forward the safety design requirements of rehabilitation training robot.Again,we put forward several parallel mechanisms which can realize the human ankle joint rehabilitation training.After comparison,we decided to use 3-SPS/S parallel mechanism.We performed analysis of degree of freedom based on screw theory of mechanism,using matrix method to describe the kinematics and Jacobian matrix are analyzed using the velocity and acceleration of the ankle rehabilitation institutions,conduct dynamic analysis of the mechanism using Lagrange's method.Based on the analysis of the performance of the rehabilitation mechanism,the workspace of the 3-SPS/S parallel mechanism was calculated by using the Matlab software simulation program,so as to confirm whether the mechanism is suitable for the rehabilitation training of the human ankle joint.Finally,we draw the 3-SPS/S ankle rehabilitation mechanism using Solidworks three-dimensional mapping software,and introduced into Adams analysis of kinematics and dynamics analysis of mechanism of bar software,after the map and after the Matlab programming calculation results were compared to verify its feasibility.