Design And Study Of Ankle Rehabilitation Mechanism

With the continuous improvement of social medical standards and people's living standards,medical robots are gradually replacing rehabilitation physicians for rehabilitation training.Although the current ankle rehabilitation robot can realize the basic movement of the ankle,most of the virtual rotation centers of the mechanism are fixed and inadjustable,so further research is needed on the ankle rehabilitation mechanism.This article combines the musculoskeletal characteristics of the human ankle,a 3-CRS-S ankle rehabilitation parallel mechanism with adjustable rotation center is designed.The kinematics of the mechanism is studied and simulation analysis is carried out to verify the rehabilitation performance of the mechanism.First,according to the movement characteristics of the ankle and musculoskeletal characteristics,a parallel mechanism suitable for ankle rehabilitation training was designed.The degrees of freedom of the 3-CRS-S parallel mechanism were studied by using helical theory and G-K formulas.Secondly,because the 3-CRS-S ankle rehabilitation parallel mechanism contains a closed-loop chain,the closed-loop chain vector method is used to obtain the position inverse solution equation of the 3-CRS-S parallel mechanism.Using the helical theory,the velocity jacobian matrix of the 3-CRS-S parallel mechanism is obtained,With the help of SolidWorks and MATLAB software,the working space of the mechanism was analyzed by the limit search method;The statics of the 3-CRS-S parallel mechanism are studied using the dismantling method,and the finite element is completed with the SolidWorks software,it provides data support for the optimization of the mechanism.Then,with the help of Adams and SolidWorks software,a 3-CRS-S parallel mechanism was created.Through the kinematics simulation module of Adams software,the 3-CRS-S parallel mechanism was kinematically simulated to obtain displacement and velocity curves 3-CRS-S parallel mechanism simulates ankle movement and measures its rotation angle range.The simulation results show that the mechanism runs smoothly during the simulation of human ankle movement,the rotation angle range value is consistent with the allowable ankle angle range,and the patient can rely on the ankle rehabilitation mechanism for rehabilitation training during the rehabilitation period.Finally,the Anybody biomechanics software was used to establish a human-machine rehabilitation simulation system,which simulated and analyzed the maximum activation of muscle tissue of the human ankle with the assistance of a 3-CRS-S parallel mechanism.The analysis results show that the maximum activation of the muscles of the human ankle during rehabilitation training of dorsiflexion-plantoflexion,inversion-eversion,and internal rotation-external rotation is within a reasonable range,which proves that the 3-CRS-S parallel mechanism assists patients in rehabilitation exercise has obvious effect.