| This paper proposes a novel（2-CRS-PU）＆R hybrid ankle rehabilitation mechanism,which has lower manufacturing cost,higher precision,and better rehabilitation performance than the current common rehabilitation devices,and can meet the daily rehabilitation needs of patients.This thesis focuses on the ankle rehabilitation mechanism from the following aspects:1.Design of the ankle rehabilitation mechanism configuration.Based on the analysis of the physiological structure and motion mechanism of ankle joint,an ankle joint rehabilitation mechanism based on（2-CRS-PU）＆R hybrid mechanism was designed based on the principle of rehabilitation mechanism design and the principle of configuration synthesis.2.Kinematic analysis and simulation of the ankle joint rehabilitation mechanism.According to the particle swarm algorithm,closed vector method and derivative method,the positive and inverse solutions of the position of the 2-CRS-PU parallel mechanism and the matrix of motion influence coefficients were obtained respectively;based on Adams,the kinematic simulation of the（2-CRS-PU）＆R rehabilitation mechanism was carried out to obtain the parameter sizes of the dynamic platform and each driving branch chain,and the analysis results showed that the range of motion of the rehabilitation mechanism can meet the ankle rehabilitation demand.3.Dexterity performance analysis of the 2-CRS-PU parallel mechanism.Based on the first-order motion influence coefficient matrix,the dexterity under the condition number evaluation index and operability evaluation index are analyzed in Matlab by arithmetic cases,and the performance profiles of the dexterity variation of the generalized parameters of the mechanism about the local condition number LCI and operability W are obtained,and the analysis results show that the 2-CRS-PU parallel mechanism has excellent transmission performance and can effectively guarantee the safety of the ankle joint.4.Dynamics analysis and simulation of the ankle joint rehabilitation mechanism.Based on the virtual work principle method,the kinetic model of the 2-CRS-PU parallel mechanism was derived based on the mapping relationship between the velocity and acceleration of each branch chain relative to the moving platform;the inverse kinetic simulation of the（2-CRSPU）＆R rehabilitation mechanism was carried out in Adams to obtain the trend of the driving force of each branch chain and the moment magnitude of the moving platform,and the analysis results showed that the ankle rehabilitation mechanism operates smoothly and without The analysis results show that the ankle rehabilitation mechanism operates smoothly and without rigid impact,and does not cause secondary injury to the ankle joint.5.To analyze the rehabilitation effect of ankle rehabilitation mechanism.The humanmachine coupling model of the（2-CRS-PU）＆R rehabilitation mechanism was constructed based on Any Body,and a single rehabilitation exercise simulation was performed to obtain the activity,muscle contraction Lm and muscle force Fm of the ankle-related muscles under different rehabilitation exercises,in which the muscle activity size always did not exceed 1,and the muscle contraction and muscle force size changes were kept within the normal range.The analysis results showed that the ankle muscles were effectively exercised during the rehabilitation process and the ankle joint rehabilitation effect was good. |
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