| 一种基于3-RSS/S并联机构的踝关节康复机器人 |
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| 引用本文： | 赵铁石,于海波,戴建生.一种基于3-RSS/S并联机构的踝关节康复机器人[J].燕山大学学报,2005,29(6):471-475. |
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| 作者姓名： | 赵铁石 于海波 戴建生 |
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| 作者单位： | 1. 燕山大学,机械工程学院,河北,秦皇岛,066004
2. 国王学院,伦敦大学,伦敦,英国 |
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| 摘 要： | 提出了一种用于踩关节康复的康复训练机器人，该机器人采用3-RSS／S并联机构，具有3个转动自由度，可以帮助患者进行多种复合运动的康复训练；本文对基于3-RSS／S并联机构的踩关节康复机器人的自由度，工作空间和运动进行了分析，并且给出了工作空间范围和运动曲线。
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| 关 键 词： | 踩关节 康复 机器人 工作空间 |
| 文章编号： | 1007-791X(2005)06-0471-05 |
| 修稿时间： | 2005年8月20日 |
An ankle rehabilitation device based on 3-RSS/S parallel mechanism |
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| ZHAO Tie-shi,YU Hai-bo,Jian S. Dai.An ankle rehabilitation device based on 3-RSS/S parallel mechanism[J].Journal of Yanshan University,2005,29(6):471-475. |
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| Authors: | ZHAO Tie-shi YU Hai-bo Jian S Dai |
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| Institution: | ZHAO Tie-shi 1,YU Hai-bo 1,Jian S. Dai 2 |
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| Abstract: | The aim of this paper is to develop a device that can meet the need of ankle rehabilitation motion with a low cost. The structure of a human ankle complex is described in the paper. Based on this model and the corresponding ankle motion ranges, a novel parallel mechanism with three degrees of freedom is synthesized. The mechanism has three RSS limbsand a central strut with a spherical joint. The kinematics and workspace of the parallel mechanism is investigated and a numerical example is also given. |
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| Keywords: | ankle joint rehabilitation robot workspace |
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